FAST馈源舱Stewart机构标定

发布时间：2018-08-25 19:01

【摘要】：馈源舱系统是FAST工程的核心部件之一。馈源在百米尺度空间内瞬时定位精度要求达到毫米级,因此需要对馈源舱Stewart机构精确标定,以克服加工及装配误差、测量误差、刚度变形以及外界扰动耦合的影响,实现馈源精确定位。本文在分析相关文献对FAST馈源舱研究的基础上,通过对馈源舱Stewart机构标定的实际操作,从测量的角度分析Stewart结构、性能、误差及参数模型等,确定机构标定方案。标定过程包括:规划位姿、用激光跟踪仪实施测量、伺服控制及数据处理等。Stewart机构标定后定位精度显著提高,这对于确保FAST馈源舱空间定位精度有着重要的促进作用。
[Abstract]:Feed cabin system is one of the core components of FAST engineering. In order to overcome the influence of machining and assembly error, measurement error, stiffness deformation and external disturbance coupling, the instantaneous positioning accuracy of feed source is required to reach millimeter level, so it is necessary to calibrate the Stewart mechanism of feed cabin accurately, so as to overcome the influence of machining and assembly error, measurement error, stiffness deformation and external disturbance coupling. The accurate location of feed source is realized. On the basis of analyzing the research of FAST feeder cabin in related literature, this paper analyzes the structure, performance, error and parameter model of Stewart from the point of view of measurement, through the actual operation of Stewart mechanism calibration of feed cabin, and determines the calibration scheme of the mechanism. The calibration process includes: planning posture, measuring with laser tracker, servo control and data processing, etc. The positioning accuracy of Stewart mechanism is significantly improved after calibration, which has an important role in promoting the positioning accuracy of FAST feed cabin.
【作者单位】：信息工程大学;中国电子科技集团公司第五十四研究所;61287部队;
【基金】：国家国际科技合作专项项目(2012DFB00120)
【分类号】：P111.44

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