A novel parallel rotor of the helicopter is designed by combining a 2PSS+PSR+SP+RUPUR-type parallel manipulator with a rotor of the helicopter. Its kinematics and dynamics models are established. Firstly, the structure principle and the merit performances of the parallel rotor are explained by comparing with conventional and existing rotors of the helicopter, and the degree of freedom of the parallel manipulator is calculated. Secondly, the kinematics formulas are derived for solving the displacement, Jacobian matrix, general velocity, Hessian matrix, and acceleration of the parallel rotor and the kinematic limbs. Thirdly, a dynamics model of the parallel rotor is established based on the derived kinematics formulas. Finally, the theoretical kinematics and dynamics solutions are verified by a simulation mechanism of the parallel rotor of the helicopter.
ZhuXLiD. Robust fault estimation for a 3-DOF helicopter considering actuator saturation. Mechanical Systems and Signal Processing2021; 155: 107624.
2.
XinYQinZCSunJQ. Input-output tracking control of a 2-DOF laboratory helicopter with improved algebraic differential estimation. Mechanical Systems and Signal Processing2019; 116: 843–857.
3.
ZhengBZhongY. Robust attitude regulation of a 3-DOF helicopter benchmark: theory and experiments. IEEE Trans. Ind. Electron2011; 58(2): 660–670.
4.
HaraNTanakaKOhtakeH. Development of a flying robot with a pantograph-based variable wing mechanism. IEEE Transactions On Robotics2009; 25(1): 79–87. DOI: 10.1109/tro.2008.2008736.
5.
CraigJJ. Introduction to Robotics. New York: Addison-Wesky Publishing Co, 1989.
6.
ZhangD. Parallel Robotic Machine Tools. New York Dordrecht Heidelberg London: Springer, 2010.
7.
YuanXZhuJ. Inverse dynamic modeling and analysis of a coaxial helicopter’s Swashplate mechanism. Mechanism and Machine Theory2017; 113: 208–230. DOI: 10.1016/j.mechmachtheory.2016.12.009.
8.
OhSRRyuJCAgrawalSK. Dynamics and control of a helicopter carrying a payload using a cable-suspended robot. Journal of Mechanical Design2006; 128(5): 1113–1121. DOI: 10.1115/detc2005-85131.
9.
LuYChangZYeN. Development and dynamics of a 2SPU+UPU+SP parallel rotor of helicopter. Aerospace Science and Technology2021; 118: 107066.
10.
JiangMRuiXZhuW, et al.Design and control of helicopter main reducer vibration isolation platform with magnetorheological dampers. International Journal of Mechanics and Materials in Design2021; 1: 1–22.
11.
YangKHanDShiQ. Study on the lift and propulsive force shares to improve the flight performance of a compound helicopter. Chinese Journal of Aeronautics2021; 35: 1.
12.
BaillyJBaillyD. Multifidelity Aerodynamic optimization of a helicopter rotor blade. AIAA Journal2019; 57(8): 3132–3144. DOI: 10.2514/1.J056513.
13.
OrmistonRAPetersDA. US Army rotorcraft research at ames: new Frontier in dynamics and aeroelasticity. AIAA Journal2019; 57(10): 4312–4327.
14.
YuJLiuYYangWD. Dynamics research on actively controlled swashplateless rotor. Proceedings of the Institution of Mechanical Engineers Part G-Journal of Aerospace Engineering2019; 233(12): 4492–4508.
15.
ZoltakJ. Multi-objective and multi-disciplinary design using evolutionary methods applied to aerospace design problems. Proceedings of the Institution of Mechanical Engineers Part G-Journal of Aerospace Engineering2018; 232(4): 613–625.
16.
KoseOOktayT. Simultaneous quadrotor autopilot system and collective morphing system design. Aircraft Engineering and Aerospace Technology2020; 92(7): 1093–1100.
17.
KanatÖÖKaratayEKöseO, et al.Combined active flow and flight control systems design for morphing UAVs. Proceedings of The Institution of Mechanical Engineers Part G-Journal of Aerospace Engineering2019; 233(10): 1–20.
18.
OktayTSalF. Combined passive and active helicopter main rotor morphing for helicopter energy save. Journal of The Brazilian Society of Mechanical Sciences And Engineering2016; 38(6): 1511–1525.
19.
LuYHuB. Unification and simplification of velocity/acceleration of limited-dof parallel manipulators with linear active legs. Mechanism and Machine Theory2008; 43(9): 1112–1128. DOI: 10.1016/j.mechmachtheory.2007.08.
20.
LuYYeNChangZ. Derivation of general acceleration and hessian matrix of kinematic limbs in parallel manipulator by extended skew symmetric matrixes. Archives of Computational Methods in Engineering2021; 28: 3035–3047. DOI: 10.1007/s11831-020-09490-6.
21.
LuYChangZYeN. Forward acceleration of kinematic limbs for redundant serial-parallel manipulators. ASME Journal of Mechanism and Robotics2020; 12: 014502. Article ID. DOI: 10.1115/1.4044842.
