基于混联机构的六自由度精密装校平台研究

发布时间：2018-01-31 22:10

本文关键词： 六自由度自动调平平面对接误差模型误差补偿　出处：《重庆大学》2012年硕士论文　论文类型：学位论文

【摘要】：某大型激光器装置在其光路方向上有大量的大口径光学模块，这些模块命名为下装模块，下装模块种类多，数量大，制造精密、重量重且造价昂贵，并要经常维护，所以在其装校过程中需要专用的精密机械装置。精密机械装置的核心部分是对下装模块进行高精度位置姿态调整的六自由度装校平台。对比串联与并联机构在机械性能优势与不足，，提出了一种符合实用要求的串并联机构—混联六自由度精密装校平台。本文从结构设计入手，通过运动学分析得到输入输出关系，其次推导了误差模型，分析了误差源对平台输出位姿的影响，为机械设计提供了理论依据，最后对平台作误差补偿，利用传感器反馈作闭环控制研究，实现该平台的六自由度精密输出，保证下装光学模块的安全、可靠及精密装校。本文主要工作有： ①分析装校对象及装校功能，列出了设计指标，结合串并联机构的机械性能，提出了精密装校平台的总体结构，包括调平机构和平面对接机构，两者均为并联机构，分别实现不同的功能，着重分析了其机构组成。 ②利用空间矢量法，构建关联约束方程，分析了调平机构和平面对接机构的位置逆解与位置正解，在位置逆解的基础上通过求导分析得到了机构各自的速度正逆解公式。 ③分析了机构误差源，利用矩阵法分别构建了调平机构和平面对接机构的误差模型，并验证误差模型，根据误差模型对比研究了误差源对终端平台的位姿误差影响，为机械设计及误差补偿提供一定的理论依据。 ④根据机构的实际情况，利用一种直接补偿法对平台作误差补偿。根据传感器反馈的数据作混联六自由度机构的自动调平和平面对接功能的控制实现。
[Abstract]:A large laser device has a large number of large-aperture optical modules in the direction of its optical path. These modules are named as the lower module. The lower module has a large number of types and has the advantages of precision manufacturing heavy weight and high cost. And always maintain it. Therefore, special precision mechanical device is needed in the process of installation and calibration. The core part of the precision mechanical device is a six-degree-of-freedom mounting and calibrating platform which adjusts the position and attitude of the lower assembly module with high precision. Advantages and disadvantages of mechanical performance. In this paper, a series-parallel mechanism-hybrid six-degree-of-freedom precision mounting and calibrating platform is proposed. Starting with the structure design, the input-output relationship is obtained by kinematics analysis, and then the error model is derived. The influence of the error source on the output position and pose of the platform is analyzed, which provides a theoretical basis for the mechanical design. Finally, the error compensation is made for the platform, and the feedback of the sensor is used as the closed-loop control research. To realize the precision output of the platform with six degrees of freedom, to ensure the safety, reliability and precision installation of the subassembly optical module. The main work of this paper is as follows: The main contents of this paper are as follows: 1. Analyzing the assembly and calibration objects and functions, the design indexes are listed. Combined with the mechanical performance of the series-parallel mechanism, the overall structure of the precision mounting and calibration platform is put forward, including the leveling mechanism and the plane docking mechanism. Both of them are parallel mechanisms, which realize different functions respectively. The composition of the mechanism is analyzed emphatically. 2 using the space vector method, the correlation constraint equation is constructed, and the position inverse solution and the position positive solution of the leveling mechanism and the plane docking mechanism are analyzed. On the basis of the inverse solution of the position, the forward and inverse solutions of the velocity of the mechanism are obtained by the derivation analysis. (3) the error source of the mechanism is analyzed, and the error models of the leveling mechanism and the plane docking mechanism are constructed by using the matrix method, and the error model is verified. According to the error model, the effect of the error source on the position and pose error of the terminal platform is studied, which provides a theoretical basis for the mechanical design and error compensation. 4According to the actual situation of the mechanism, a direct compensation method is used to compensate the error of the platform, and according to the data of the sensor feedback, the automatic adjustment and plane docking function of the hybrid six-degree-of-freedom mechanism is realized.
【学位授予单位】：重庆大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH112

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