高精度高刚度六自由度调整机构的设计及分析
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摘要
设计一种基于Stewart构型的具有高精度和高刚度的六自由度精密调整机构。首先,对调整机构进行构型设计并作了运动学分析;接着,建立了误差模型并对构型进行了精度分析,包括精度分配及模特卡洛模拟法验证;之后,根据理论分析结果,对调整机构进行结构设计,主要包括单足位移促动器的设计和偏置铰链的设计;最后,对调整机构进行了刚度分析。本文的分析结果为此六自由度调整机构的重复定位精度为X、Y向±2μm,Z向±0.54μm,R_x,R_y,R_z方向±6.13μrad,横向振动基频为104.3 Hz,轴向刚度为61.3 N/μm。分析结果显示此六自由度精密调整机构满足设计要求,验证了调整机构结构设计的合理性。
A precision adjusting mechanism of six-degree-of-freedom(SDOF)based on Stewart structure with high accuracy and high stiffness is designed in this paper. Firstly, the configuration of adjusting mechanism was designed and the kinematics analysis was conducted; Then, the error model was established and the precision of the configuration of parallel platform was analyzed. After that, the structure of adjusting mechanism was designed according to the theoretical analysis results, including the single displacement actuator and the offset hinge; Finally, the stiffness of the adjusting mechanism was analyzed. This article obtaining the analysis results that the repeatability of the SDOF adjusting mechanism were ±2 m in X and Y direction,±0.54 m in Z direction, ±6.13 rad in Rx, Ry, Rz direction, and the fundamental frequency of the transverse vibration was 104.3 Hz and the axial stiffness was 61.3 N/μm. The analysis results showed that the SDOF precision adjusting mechanism fulfilled the design requirements, and the rationality for structure design of adjustment mechanism was verified.
A precision adjusting mechanism of six-degree-of-freedom(SDOF)based on Stewart structure with high accuracy and high stiffness is designed in this paper. Firstly, the configuration of adjusting mechanism was designed and the kinematics analysis was conducted; Then, the error model was established and the precision of the configuration of parallel platform was analyzed. After that, the structure of adjusting mechanism was designed according to the theoretical analysis results, including the single displacement actuator and the offset hinge; Finally, the stiffness of the adjusting mechanism was analyzed. This article obtaining the analysis results that the repeatability of the SDOF adjusting mechanism were ±2 m in X and Y direction,±0.54 m in Z direction, ±6.13 rad in Rx, Ry, Rz direction, and the fundamental frequency of the transverse vibration was 104.3 Hz and the axial stiffness was 61.3 N/μm. The analysis results showed that the SDOF precision adjusting mechanism fulfilled the design requirements, and the rationality for structure design of adjustment mechanism was verified.
引文
[1] Joseph J Zierer.The Development of high-precision hexapod actuators for the Hobby-Eberly Telescope Wide Field Upgrade[J].Proceeding of SPIE,2010,77331H 1-12
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[12] 史剑.大射电望远镜精调Stewart平台控制及实验研究[D].西安:西安电子科技大学,2009:24-38.SHI Jian.Control and Experiment of the Fine Tuning Stewart Platform for the Large Radio Telescope[D].Xian:Xidian University,2009:24-38(In Chinese).
[13] 张景旭,安其昌,李剑锋,等.基于机构条件数的30m望远镜三镜Stewart平台[J].光学精密工程,2014 (04):890-896.ZHANG JingXu,AN QiChang,Li JianFeng et al.Third mirror Stewart platform of TMT based on mechanism condition number[J].Optics and Precision Engineering,2014 (04):890-896(In Chinese).
[14] 吴鑫基.聆听宇宙电波的巨耳一射电望远镜的发展历程[J].中国国家天文台,2008(6):84-105.WU XinJi.Listening to the huge ear of cosmic waves — the development of a radio telescope[J].The National Astronomical Observatories of the Chinese Academy of Sciences,2008(6):84-105(In Chinese).
[15] 姚建涛,曾达幸,侯雨雷,等.大型射电望远镜天线副反射面调整系统设计与实验研究[J].载人航天,2016(01):69-73.YAO JianTao,ZENG DaXing,HOU YuLei,et al.Design and experiment research of subreflector adjusting system in large radio telescope antenma[J].Manned Spaceflight,2016(01):69-73(In Chinese).
[16] 赵强,李洪人.六自由度运动平台的振动分析与测试[J].机械强度,2006,(S1):17-21.[2017-08-06].ZHAO Qiang,LI HongRen.Vibration analysis and test of a six degrees of freedom platform[J].Journal of Mechanical Strength,2006(S1):17-21(In Chinese).
[2] D Stewart.A platform with six degrees of freedom [J].Proceedings of the Institution of Mechanical Engineers.1965,180(1):371-386
[3] 王晓明,徐振邦,王兵,等.基础激励下6-UHP并联平台的动力学建模与仿真[J].机器人,2016,38(6):687-695WANG XiaoMing,XU ZhenBang,WANG Bing,et al.Dynamic modeling and simulation of a 6-UHP parallel platform under base excitation [J].Robot,2016,38(6):687-695(In Chinese).
[4] W Matthias,U Volker,W Thomas,et al.A Stewart platform for precision surgery[J].Transactions of the institute of measurement and control,2003,25(4):329-334.
[5] Zahidul H Rahman,John H Spanos,Robet A Laskin.Multi-axis vibration isolation suppression and steering system for space observational applications[C]//Proceedings of SPIE-The International Society for Optical Engineering.Kona,HI,USA,1998:73-83.
[6] Oscar A,Yon S M,Enrique A,et al.Motion pattern analysis ofparallel kinematic machines:A case study [J].Robotics and Computer-Integrated Manufacturing,2009,25:432-440.
[7] Mancini D,Mancini G,Perrotta F,et al.VST project:mechanical design optimization[C]//Astronomical Telescopes and Instrumentation.International Society for Optics and Photonics,2003:379-388.
[8] Schipani P,Perrotta F,Molfese C,et al.The VST secondary mirror support system[C]//SPIE Astronomical Telescopes+ Instrumentation.International Society for Optics and Photonics,2008:701845-701845-10.
[9] W.Gressler,J.DeVries,E.Hileman,et al.LSST Telescope and Site Status [C].//SPIE.Ground-based and Airborne Telescopes V,2014,91451A-91451A-11.
[10] S.C.West,D.Fisher,P.Spencer,et al.6.5m MMT f/9-f/15 Hexapod Laboratory Calibration [C] MMT Con version Technical Memo #00-3,07 Mar 2000:324-331
[11] 梁凤超,黄刚,谭爽,等.基于ADAMS的Stewart次镜平台运动学和动力学仿真[J].实验室研究与探索,2017,36(02):107-111.LIANG FengChao,HUANG Gang,TAN Shuang,et al.Simulation of kinematics and dynamics of stewart platform forsecondary mirror based on ADAMS[J].Research and Exploration Inlaboratory,2017,36(02):107-111(In Chinese).
[12] 史剑.大射电望远镜精调Stewart平台控制及实验研究[D].西安:西安电子科技大学,2009:24-38.SHI Jian.Control and Experiment of the Fine Tuning Stewart Platform for the Large Radio Telescope[D].Xian:Xidian University,2009:24-38(In Chinese).
[13] 张景旭,安其昌,李剑锋,等.基于机构条件数的30m望远镜三镜Stewart平台[J].光学精密工程,2014 (04):890-896.ZHANG JingXu,AN QiChang,Li JianFeng et al.Third mirror Stewart platform of TMT based on mechanism condition number[J].Optics and Precision Engineering,2014 (04):890-896(In Chinese).
[14] 吴鑫基.聆听宇宙电波的巨耳一射电望远镜的发展历程[J].中国国家天文台,2008(6):84-105.WU XinJi.Listening to the huge ear of cosmic waves — the development of a radio telescope[J].The National Astronomical Observatories of the Chinese Academy of Sciences,2008(6):84-105(In Chinese).
[15] 姚建涛,曾达幸,侯雨雷,等.大型射电望远镜天线副反射面调整系统设计与实验研究[J].载人航天,2016(01):69-73.YAO JianTao,ZENG DaXing,HOU YuLei,et al.Design and experiment research of subreflector adjusting system in large radio telescope antenma[J].Manned Spaceflight,2016(01):69-73(In Chinese).
[16] 赵强,李洪人.六自由度运动平台的振动分析与测试[J].机械强度,2006,(S1):17-21.[2017-08-06].ZHAO Qiang,LI HongRen.Vibration analysis and test of a six degrees of freedom platform[J].Journal of Mechanical Strength,2006(S1):17-21(In Chinese).