风洞六自由度机构运动学分析及轨迹规划

In order to satisfy the requirement of captive trajectory simulation test in wind tunnel, a 6-DOF mechanism was designed for trajectory planning, and a 5-3-5 polynomial trajectory planning method was proposed.Through the D-H method, the reference coordinate system of each component of the mechanism was established, combined with the basic coordinate transformation and D-H method, the forward kinematics solution of the mechanism was obtained, and then the inverse kinematics solution of the mechanism was obtained by analytical method. Based on the inverse kinematics solution of the 6-DOF mechanism, the trajectory planning of the mechanism was carried out by using the cubic polynomial method and the fifth polynomial method. Finally, combining the two methods, the 5-3-5 polynomial method was adopted to carry out the trajectory planning of the mechanism, which proves that the trajectory planning method integrates the advantages of the first two methods, and provides a theoretical reference for the later realization of accurate control of the mechanism pose.