稳定平台中活动线缆的虚拟布局设计方法

针对稳定平台中活动线缆布局设计不合理造成的弹性干扰力矩较大的问题,提出一种基于运动仿真的活动线缆虚拟布局设计方法。该方法首先从拉伸、弯曲和扭转等方面考虑了线缆的物理属性,并建立基于Cosserat弹性杆理论的线缆物理模型,在此基础上建立了以活动线缆干扰力矩最小为目标的布局优化模型,针对无干涉约束、无过弯约束和长度约束进行了仿真过程中的约束条件检测,并以线缆两端的位置、姿态和线缆长度为变量参数,通过交互的和自动相结合的优化迭代方法获得了最小干扰力矩值下的布局方案。最后以某产品的稳定平台为实例,分别进行了仿真计算和实物布线,并对比分析了初始布线方案与优化后的布线方案相对应的弹性干扰力矩,结果表明提出的方法能够有效减小活动线缆所引入的干扰力矩值。

A Virtual Layout Design Method of Motional Cable in Stabilized Platform

The elastic disturbance torque of motional cable in the stabilized platform is always bigger than expected due to poor design. A virtual layout design method of motional cable based on modeling and motion simulation is proposed. The Cosserat elastic rod theory, which accounts for stretching, bending and twisting, is used to build the physical model. To find the minimum disturbance torque, a layout optimization model is built and the collision-free constraint, bending radius constraint and length constraint are also considered. By interactively and automatically changing the five parameters including position and pose of both ends of cable and the length of cable, the corresponding configuration and disturbance torque is computed to get the optimal design. Both virtual cable layout design and real cable routing are carried out on a testing case. The results of elastic disturbance torque curves show that our method can effectively reduce the disturbance of motional cable.