Six-axis motion mechanism for submarine hydrodynamic testing
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Solution Overview
Problem
Conventional dual-pillar vertical planar motion mechanisms (VPMM) are limited in imitating the dynamic motion of submarines due to lack of compound motion in the X-axis direction, resulting in restricted pitching and yawing angles, which increases measurement errors and reduces precision in hydrodynamic coefficient analysis.
Innovation Solution
A six-axis motion mechanism with three translation axes (X, Y, Z) and three rotation axes (x, y, z) is developed, incorporating drive mechanisms for displacement, velocity, and acceleration control, and rotation mechanisms for controlling angles, angular velocity, and angular acceleration, allowing for complex submarine-like motions without angle limitations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a conventional dual-pillar VPMM with two pairs of two axes is used, then the structure is simple, but the compound motion in X-axis direction is missing, resulting in limited pitching and yawing angles
Solution Approach 1:
The patent transitions from a two-axis planar motion mechanism to a six-axis spatial motion mechanism by adding three translation axes (X, Y, Z) and three rotation axes (x, y, z). This dimensional expansion enables the system to imitate complex submarine motions including rolling, yawing, and pitching that were previously unachievable, directly resolving the contradiction between structural simplicity and motion imitation capability.
Solution Approach 2:
The motion mechanism is divided into six independent axes (three translation and three rotation), each controlled by separate drive mechanisms. This segmentation allows each axis to be optimized independently while collectively achieving comprehensive motion control, enabling the system to handle both simple and complex motion patterns without overcomplicating the overall structure.
2Ease of operation
If the joint is provided with a slide sleeve for pitching or yawing motion, then the joint can move, but the angle of pitching and yawing is limited and the centroid position deviates
Solution Approach 1:
The patent employs dynamic positioning through six independent axes with precise control mechanisms. The translation axes (X, Y, Z) and rotation axes (x, y, z) work together to maintain the centroid of the submarine model at its original position while achieving full pitching and yawing motion. This dynamic control system eliminates the angle limitations and position deviations inherent in conventional slide sleeve joints.
Solution Approach 2:
The system incorporates feedback control through position sensors and control mechanisms that continuously monitor the centroid position and adjust the motion axes accordingly. This feedback mechanism ensures that the submarine model returns to its original centroid position after pitching or yawing motion, eliminating measurement deviations and improving overall motion accuracy.
3Ease of manufacture
If the dual-pillar VPMM is used for measuring hydrodynamic coefficients, then the setup is straightforward, but the measurement precision is lowered due to increased error values
Solution Approach 1:
The patent changes the fundamental parameters of the motion mechanism from two axes to six axes, adding three translation axes (X, Y, Z) and three rotation axes (x, y, z). This parameter expansion enables precise reproduction of complex submarine motion patterns, including rolling, yawing, and pitching, which are essential for accurate hydrodynamic coefficient measurement. The enhanced motion control capabilities directly improve measurement precision while maintaining setup simplicity.
Data Source
AI summary
A six-axis motion mechanism combines three translation axes in the directions of the X-axis, the Y-axis, and the Z-axis and three rotation axes in the directions of the x-axis, the y-axis, and the z-axis to carry out a six-axis compound motion. The six-axis motion mechanism includes a movable support frame provided with a connecting mechanism. Drive mechanisms are provided in the directions of the X-axis, the Y-axis, and the Z-axis respectively for controlling the displacement, velocity and acceleration of three translation axes. Rotation mechanisms are provided in the directions of the x-axis, the y-axis, and the z-axis respectively for controlling the rotation angles (θ, φ, Ψ), angular velocity, and angular acceleration of the three rotation axes. The six-axis motion mechanism further includes a motion body which can proceed its rotation and displacement at any angle to imitate a single motion of rolling, yawing and pitching and a compound motion.