本文關(guān)鍵詞： 六自由度 自動(dòng)調(diào)平 平面對(duì)接 誤差模型 誤差補(bǔ)償　出處：《重慶大學(xué)》2012年碩士論文　論文類型：學(xué)位論文

【摘要】：某大型激光器裝置在其光路方向上有大量的大口徑光學(xué)模塊，這些模塊命名為下裝模塊，下裝模塊種類多，數(shù)量大，制造精密、重量重且造價(jià)昂貴，并要經(jīng)常維護(hù)，所以在其裝校過(guò)程中需要專用的精密機(jī)械裝置。精密機(jī)械裝置的核心部分是對(duì)下裝模塊進(jìn)行高精度位置姿態(tài)調(diào)整的六自由度裝校平臺(tái)。對(duì)比串聯(lián)與并聯(lián)機(jī)構(gòu)在機(jī)械性能優(yōu)勢(shì)與不足，，提出了一種符合實(shí)用要求的串并聯(lián)機(jī)構(gòu)—混聯(lián)六自由度精密裝校平臺(tái)。本文從結(jié)構(gòu)設(shè)計(jì)入手，通過(guò)運(yùn)動(dòng)學(xué)分析得到輸入輸出關(guān)系，其次推導(dǎo)了誤差模型，分析了誤差源對(duì)平臺(tái)輸出位姿的影響，為機(jī)械設(shè)計(jì)提供了理論依據(jù)，最后對(duì)平臺(tái)作誤差補(bǔ)償，利用傳感器反饋?zhàn)鏖]環(huán)控制研究，實(shí)現(xiàn)該平臺(tái)的六自由度精密輸出，保證下裝光學(xué)模塊的安全、可靠及精密裝校。本文主要工作有： ①分析裝校對(duì)象及裝校功能，列出了設(shè)計(jì)指標(biāo)，結(jié)合串并聯(lián)機(jī)構(gòu)的機(jī)械性能，提出了精密裝校平臺(tái)的總體結(jié)構(gòu)，包括調(diào)平機(jī)構(gòu)和平面對(duì)接機(jī)構(gòu)，兩者均為并聯(lián)機(jī)構(gòu)，分別實(shí)現(xiàn)不同的功能，著重分析了其機(jī)構(gòu)組成。 ②利用空間矢量法，構(gòu)建關(guān)聯(lián)約束方程，分析了調(diào)平機(jī)構(gòu)和平面對(duì)接機(jī)構(gòu)的位置逆解與位置正解，在位置逆解的基礎(chǔ)上通過(guò)求導(dǎo)分析得到了機(jī)構(gòu)各自的速度正逆解公式。 ③分析了機(jī)構(gòu)誤差源，利用矩陣法分別構(gòu)建了調(diào)平機(jī)構(gòu)和平面對(duì)接機(jī)構(gòu)的誤差模型，并驗(yàn)證誤差模型，根據(jù)誤差模型對(duì)比研究了誤差源對(duì)終端平臺(tái)的位姿誤差影響，為機(jī)械設(shè)計(jì)及誤差補(bǔ)償提供一定的理論依據(jù)。 ④根據(jù)機(jī)構(gòu)的實(shí)際情況，利用一種直接補(bǔ)償法對(duì)平臺(tái)作誤差補(bǔ)償。根據(jù)傳感器反饋的數(shù)據(jù)作混聯(lián)六自由度機(jī)構(gòu)的自動(dòng)調(diào)平和平面對(duì)接功能的控制實(shí)現(xiàn)。
[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.
【學(xué)位授予單位】：重慶大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類號(hào)】：TH112

【引證文獻(xiàn)】

相關(guān)博士學(xué)位論文 前1條

1 延皓;基于液壓六自由度平臺(tái)的空間對(duì)接半物理仿真系統(tǒng)研究[D];哈爾濱工業(yè)大學(xué);2007年

本文編號(hào)：1480114