基于线驱动并联机构的FAST馈源平台位姿测量方法

doi:10.3901/JME.2017.17.043

机械工程学报 ›› 2017, Vol. 53 ›› Issue (17): 43-49.doi: 10.3901/JME.2017.17.043

• 特邀专栏:500 m口径球面射电望远镜（FAST） • 上一篇下一篇

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基于线驱动并联机构的FAST馈源平台位姿测量方法

韩旺, 段学超, 仇原鹰, 段宝岩

西安电子科技大学电子装备结构设计教育部重点实验室西安 710071

收稿日期:2017-02-28 修回日期:2017-04-07 出版日期:2017-09-05 发布日期:2017-09-05
通讯作者: 韩旺(通信作者),男,1993年出生。主要研究方向为并联机器人和机电一体化。E-mail:whan@stu.xidian.edu.cn
作者简介:段学超,男,1981年出生,副教授,硕士研究生导师。主要研究方向为并联机器人和机电一体化。E-mail:xchduan@xidian.edu.cn;仇原鹰,男,1958年出生,教授,博士研究生导师。主要研究方向为机电一体化及CAE。E-mail:yyqiu@xidian.edu.cn;段宝岩,男,1955年出生,中国工程院院士,教授,博士研究生导师。主要研究方向为机电综合优化设计,先进制造技术。E-mail:byduan@xidian.edu.cn
基金资助:
国家自然科学基金资助项目（51405362，51679398）

Position-orientation Measurement Method for the FAST Feed Platform Based on Wire-driven Parallel Mechanism

HAN Wang, DUAN Xuechao, QIU Yuanying, DUAN Baoyan

Key Laboratory of Electronic Equipment Structure of Ministry of Education, Xidian University, Xi'an 710071

Received:2017-02-28 Revised:2017-04-07 Online:2017-09-05 Published:2017-09-05

摘要/Abstract

摘要： 中国天眼——500 m口径球面射电望远镜（Five hundred meter aperture spherical radio telescope，FAST）日前已投入使用，其独创的光机电一体化馈源支撑方案使得结构重量降低2个数量级。在6根柔索对馈源舱进行初步定位的基础上，舱内的AB轴机构和精调Stewart平台支撑起馈源平台，并进行实时位姿补偿以实现馈源对天文目标的高精度跟踪。为避免通过各级驱动关节反馈值计算馈源平台位姿时，不能反映杆件弹性变形、铰链间隙引入的馈源平台误差，提出一种基于线驱动并联机构的馈源平台6自由度位姿直接测量方法，研究了测量系统的数学模型，利用机构构型的特点简化了线驱动并联机构的位姿正解算法。通过将简化后的位姿正解算法与传统6自由度机构位姿正解算法进行对比，验证了该方法的有效性和实时性；进一步分析了基于该方法的测量系统误差来源，得出了机构参数的误差映射关系。数值仿真结果表明：基于线驱动并联机构6自由度位姿测量系统具有误差平均效应，通过拉线连接点优化布局能够达到0.5 mm和0.025°的测量精度。

关键词: FAST, 并联机构, 馈源跟踪, 位姿测量, 误差分析, 运动学正解

Abstract: At present, five hundreds meter aperture spherical radio telescope (FAST) what is termed "China's Sky Eye" has been put into operation. The innovative optical-electromechanical-integrated feed supporting design makes the structure weight reduced by 2 orders of magnitude. On the basis that the preliminary positioning and orientating of the feed cabin is provided by the cable-driven subsystem, the AB-axis mechanism and fine-tuning Stewart platform in the feed cabin tackling with the positioning and orientation error compensation real time to realize the high precision tracking. In order to overcome the fact that the elastic deformation and joint clearance are neglected in the position and orientation computation of the feed platform with feedback information of the actuators, this paper presents a straight measurement method for the FAST feed platform based on wire-driven parallel mechanisms. This method has the advantages of real-time performance, high precision and strong ability to reject disturbance. By studying the measurement model, the forward solution algorithm of the wire-driven parallel mechanism is simplified. The comparison result indicates the forward solution algorithm simplified has the advantage and effectiveness of fast convergence. The paper then gives an analysis of the sources of systematic error and study the mapping between the error of draw-wire displacement sensors and the position and orientation error. The results of simulation indicate that the wire-driven parallel mechanism measurement method has the characteristic of averaging-error effect. With appropriate selection of workspace, this measurement system will be able to provide 0.5 mm and 0.025° precision in position and orientation.

Key words: error analysis, FAST, forward kinematics, parallel mechanism, position and orientation measurement, Tracking of the feed

中图分类号:

TG156

韩旺, 段学超, 仇原鹰, 段宝岩. 基于线驱动并联机构的FAST馈源平台位姿测量方法[J]. 机械工程学报, 2017, 53(17): 43-49.

HAN Wang, DUAN Xuechao, QIU Yuanying, DUAN Baoyan. Position-orientation Measurement Method for the FAST Feed Platform Based on Wire-driven Parallel Mechanism[J]. Journal of Mechanical Engineering, 2017, 53(17): 43-49.

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基于线驱动并联机构的FAST馈源平台位姿测量方法

Position-orientation Measurement Method for the FAST Feed Platform Based on Wire-driven Parallel Mechanism

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