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三轴运动模拟转台是惯性导航和飞行控制等测试当中使用的大型精密测试设备。高精度三轴转台的研制工作和转台的使用都要求对三自由度运动转台的运动学和动力学进行表达和描述。本文采用一种通用的、系统的向量和旋转矩阵的表达算法,对三轴转台的运动学进行了描述,给出了由转台的三个转角求转台方位的解,以及反之,由转台方位求三个转角的解;并且,运用了在级联刚体动力学中发展了的牛顿——尤拉方程,推导出三轴台的动力学方程,给出了在不同程度的三种结构假设条件下的转台动力学的具体的解析表达式。
Three-axis motion simulation turntable is inertial navigation and flight control tests used in large-scale precision test equipment. The development of high precision triaxial rotary table and the use of rotary table all require the expression and description of the kinematics and dynamics of the three degrees of freedom rotary table. In this paper, a general, systematic vector and rotation matrix expression algorithm is used to describe the kinematics of the three-axis turntable. The solution of the turntable azimuth from the three corners of the turntable is given, and vice versa. Three corners of the solution; and, the use of the rigid body in the cascade dynamics of the Newton-Euler equations derived three-axis table of the dynamic equation, given under varying degrees of three structural assumptions Turntable dynamics specific analytical expressions.