CHEN Zhuopeng, WU Xiaojian
(College of Astronautics， Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China)
Abstract: Aiming at securing the activities such as dynamic modeling and controller designing of micro unmanned helicopter such that the damage or crash of the helicopter and its attached loads can be avoided in the experiment, the conceptual design of a passive supporting stand with 6 degrees of freedom for micro unmanned helicopter test was proposed.The main component of the stand is a serially articulated parallelogram mechanism in which spring balancing technique is used to passively balance the gravity of the stand. The micro unmanned helicopter was supported on the end of the mechanism through a spherical joint. The helicopters supported in such a stand can fly in any direction or hover in any position within the permitted space of the stand.The design met the simulation needs that the unmanned helicopter has six degrees of freedom for the threedimensional space.In order to verify the gravity balancing effectiveness of the stand, the simulations in ADAMS were conducted and the results of the simulations were presented. The advantage and disadvantage of the design were shown.
The research results show that, the scheme has the advantages of simple structure, easy to implement, it can effectively protect the safety of dynamic modeling and controller design of micro unmanned helicopter.
Key words: unmanned helicopter; 6DOF stand; UAV; MUAV; gravity balance; parallelogram mechanism