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《Acta Armamentarii》 2011-09
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Research on Dynamics Model of Dircting Mechanism Based on Ring Involute Spherical Gear and Ring Rack

LI Qiang,PAN Cun-yun,XU Hai-jun (College of Mechatronics and Automation,National University of Defense Technology,Changsha 410073,Hunan,China)  
For precisely control of the movement of a platform with 2 degrees,its dynamics is presented.The transmission form of this platform is a ring involute spherical gear meshing with a ring rack.The structure of the platform is analyzed,and the kinematics model is established.Then the dynamics model is established by Lagrange equation.Considering the parameters of the platform,the track of the endpoint is programmed,and the rules of the drive forces are acquired on the basis of the dynamics model.The validity of the dynamics model is verified through the dynamics simulation.The results show that the dynamics model is accurate,and the drive force errors of the two motors are significantly different.More precise movement can be acquired by improving the control of one of the two motors.The conclusions help to analyze the dynamic characteristics,mechanism optimizing design and movement control of directing platform.
【Fund】: 国家“863”项目(2006AA09Z235)
【CateGory Index】: TH132.41
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