法兰自动对接空间位姿综合误差建模技术研究
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摘要
以某火箭发动机尾喷口与燃烧室法兰端口自动对接为例,设计TTTRRR六自由度对接机构,结合海克斯康Leicaprobe自动激光跟踪仪获取位姿信息,并求解位姿调整参量。分析六自由度对接机构的X/Y/Z三个平动导轨,A/B/C三个转动轴的制造误差、安装误差、运动误差等共计42项误差,并分别对每个运动单元进行误差运动学分析,通过齐次坐标变换技术对尾喷口法兰位姿建立空间位姿实际与理想空间位姿变换模型,推导空间位姿综合误差模型及尾喷口位姿误差,并通过算例仿真验证方法。
Taking automatic butt joint of tail nozzle of engine and combustion chamber flange for example,moving or rotating the corresponding amount of motion to achieve the docking of the tail nozzle and combustion chamber with the help of TTTRRR six degree of freedom docking mechanism. We get the position information with the Hexagon Leica probe automatic laser tracker,solve the position and orientation adjustment parameters. Analyzing the error sources,such as manufacturing error,installation error,motion error and a total of 42 errors. The integrated error modeling of the actual position and attitude of the tail nozzle flange is carried out by means of homogeneous coordinate transformation. We study the synthesis error matrix of spatial position and attitude as well as the attitude error of tail nozzle. At the same time,the validity of the method is verified by the simulation.
Taking automatic butt joint of tail nozzle of engine and combustion chamber flange for example,moving or rotating the corresponding amount of motion to achieve the docking of the tail nozzle and combustion chamber with the help of TTTRRR six degree of freedom docking mechanism. We get the position information with the Hexagon Leica probe automatic laser tracker,solve the position and orientation adjustment parameters. Analyzing the error sources,such as manufacturing error,installation error,motion error and a total of 42 errors. The integrated error modeling of the actual position and attitude of the tail nozzle flange is carried out by means of homogeneous coordinate transformation. We study the synthesis error matrix of spatial position and attitude as well as the attitude error of tail nozzle. At the same time,the validity of the method is verified by the simulation.
引文
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[9]吴昊,刘大宝,杨建国.基于齐次坐标变换的塔式起重机综合运动误差建模[J].起重运输机械,2010(9):9-13.(Wu Hao,Liu Da-bao,Yang Jian-guo.Modeling of composite motion er-ror of tower crane based on homogeneous coordinate transformation[J].Journal of Hoisting and Conveying Machinery,2010(9):9-13.)
[10]王秀山,李智广,王永田.垂直度误差对五轴数控机床误差建模精度和复杂度的影响[J].机械设计与制造,2015,(11):171-173.(Wang Xiu-shan,Li Zhi-guang,Wang Yong-tian.Effect of perpendic-ularity error of the modeling precision of five axis NC machine tool and co-mplexity[J].Mechanical Design and Manufacturing,2015(11):171-173.)
[2]代永朝,范洪波.飞机导管滑动挤压无扩口连接设计与试验研究[J].新技术新工艺,2015(10):54-56.(Dai Yong-chao,Fan Hong-bo.Design and experimental study of the nonslip joint for aircraft duct sliding extrusion[J].New technology and new tec-hnology,2015(10):54-56.)
[3]王松波,杨建国,齐盼进.反应堆冷却剂泵主螺栓的制造、安装和役前检查[J].通用机械,2015(10):64-67.(Wang Song-bo,Yang Jian-guo,Qi Pan-jin.Manufacture,installationand pre service inspection of reactor coolant pump main bolts[J].GeneralMachinery,2015(10):64-67.)
[4]南宫自军,姜晋庆,张铎.固体火箭发动机连接结构接触应力研究[J].推进技术,1997,18(4):54-57.(Nangong Zi-jun,Jiang Jin-qing,Zhang Duo.Study on contact stress ofsolid rocket motor[J].Propulsion Technology,1997,18(4):54-57.)
[5]徐旭松,杨将新,曹衍龙.基于齐次坐标变换的制造误差建模研究[J].浙江大学学报:工学版,2008,42(6):1021-1026.(Xu Xu-song,Yang Jiang-xin,Cao Yan-long.Research on manufactur-ing error modeling based on homogeneous coordinate transformation[J].Journal of Zhejiang University:Engineering Science Edition,2008,42(6):1021-1026.)
[6]蔡自兴.机器人学[M].北京:清华大学出版社,2000.(Cai Zi-xing.Robotics[M].Beijing:Tsinghua University Press,2000.)
[7]何雪涛,程源,黄钟.齐次坐标变换在空间机构分析中的应用[J].北京化工大学学报,1999,26(1):41-44.(He Xue-tao,Cheng Yuan,Huang Zhong.Transformation of homogeneouscoordinates and its application in the analysis of spatial mechanism[J].Journal of Beijing University of Chemical Technology,1999,26(1):41-44.)
[8]徐旭松,杨将新,曹衍龙.基于齐次坐标变换的制造误差建模研究[J].浙江大学学报:工学版,2008,42(6):1021-1026.(Xu Xu-song,Yang Jiang-xin,Cao Yan-long.Manufacturing error mod-eling based on homogeneous transformation[J].Journal of Zhejiang Uni-versity:Engineering Science Edition,2008,42(6):1021-1026.)
[9]吴昊,刘大宝,杨建国.基于齐次坐标变换的塔式起重机综合运动误差建模[J].起重运输机械,2010(9):9-13.(Wu Hao,Liu Da-bao,Yang Jian-guo.Modeling of composite motion er-ror of tower crane based on homogeneous coordinate transformation[J].Journal of Hoisting and Conveying Machinery,2010(9):9-13.)
[10]王秀山,李智广,王永田.垂直度误差对五轴数控机床误差建模精度和复杂度的影响[J].机械设计与制造,2015,(11):171-173.(Wang Xiu-shan,Li Zhi-guang,Wang Yong-tian.Effect of perpendic-ularity error of the modeling precision of five axis NC machine tool and co-mplexity[J].Mechanical Design and Manufacturing,2015(11):171-173.)