TMT三镜系统中Stewart平台的优化设计
发布时间：2018-07-24 15:06
【摘要】：为了使TMT三镜系统具有跟踪瞄准功能,同时可以校正由于重力引起的结构变形,设计一个大型的Stewart平台来完成三镜的Tilt调整。根据初始参数对并联机构进行了位置反解的计算,并分别对支腿轴向力和刚度进行了建模,最后使用了Matlab进行优化计算,得出一组最优解。根据所求出的最优解使用ANSYS建立了三镜系统的参数化模型,并与Matlab联合仿真,对三镜系统的各个工况进行了有限元模拟。仿真得到三镜各个工作位置时的支腿的伸长量、重力下的变形、第一阶模态值以及六根支腿内力。模拟结果显示,最终设计的Stewart平台支腿的最大变形量为0.813 mm,与优化前的模型相比下降了20%;第一阶模态最小值为16.7 Hz,与优化前的模型相比上升了18%;六根支腿的轴向力最大值为27 219 N,相比优化前下降了15.9%。
[Abstract]:In order to make the TMT three-mirror system have the function of tracking and aiming, and at the same time to correct the structural deformation caused by gravity, a large Stewart platform is designed to complete the three-mirror Tilt adjustment. According to the initial parameters, the position inverse solution of the parallel mechanism is calculated, and the axial force and stiffness of the supporting leg are modeled respectively. Finally, the Matlab is used to optimize the calculation, and a group of optimal solutions are obtained. According to the obtained optimal solution, the parametric model of the three-mirror system is established by using ANSYS, and the finite element simulation of the three-mirror system is carried out under each working condition of the three-mirror system by combined simulation with Matlab. The elongation of the leg, the deformation under gravity, the first mode value and the internal force of the six legs are obtained by simulation. The simulation results show that The maximum deformation of the designed Stewart leg is 0.813 mm, which is 20 times lower than that of the model before optimization, the minimum value of the first order mode is 16.7Hz, which is 18% higher than that of the model before optimization, and the maximum axial force of the six legs is 27,219. N, 15. 9% lower than before optimization.
【作者单位】： 中国科学院长春光学精密机械与物理研究所;中国科学院大学;
【基金】：中国科学院长春光学精密机械与物理研究所三期创新工程专项基金
【分类号】：TH751
本文编号：2141762
[Abstract]:In order to make the TMT three-mirror system have the function of tracking and aiming, and at the same time to correct the structural deformation caused by gravity, a large Stewart platform is designed to complete the three-mirror Tilt adjustment. According to the initial parameters, the position inverse solution of the parallel mechanism is calculated, and the axial force and stiffness of the supporting leg are modeled respectively. Finally, the Matlab is used to optimize the calculation, and a group of optimal solutions are obtained. According to the obtained optimal solution, the parametric model of the three-mirror system is established by using ANSYS, and the finite element simulation of the three-mirror system is carried out under each working condition of the three-mirror system by combined simulation with Matlab. The elongation of the leg, the deformation under gravity, the first mode value and the internal force of the six legs are obtained by simulation. The simulation results show that The maximum deformation of the designed Stewart leg is 0.813 mm, which is 20 times lower than that of the model before optimization, the minimum value of the first order mode is 16.7Hz, which is 18% higher than that of the model before optimization, and the maximum axial force of the six legs is 27,219. N, 15. 9% lower than before optimization.
【作者单位】： 中国科学院长春光学精密机械与物理研究所;中国科学院大学;
【基金】：中国科学院长春光学精密机械与物理研究所三期创新工程专项基金
【分类号】：TH751
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