气浮试验台重力卸载精度分析

doi:10.3901/JME.2019.05.001

机械工程学报 ›› 2019, Vol. 55 ›› Issue (5): 1-10.doi: 10.3901/JME.2019.05.001

• 机构学及机器人 • 下一篇

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气浮试验台重力卸载精度分析

杨国永^1,2, 王洪光¹, 姜勇¹, 凌烈¹, 常勇¹, 高峰³, 杨帆³

1. 中国科学院沈阳自动化研究所沈阳 110016;
2. 中国科学院大学北京 100049;
3. 北京控制工程研究所北京 100080

收稿日期:2018-03-20 修回日期:2018-10-11 出版日期:2019-03-05 发布日期:2019-03-05
通讯作者: 杨国永(通信作者),男,1986年出生,博士研究生。主要研究方向为微重力环境模拟,机器人机构学。E-mail:ygy2316@163.com
作者简介:王洪光,男,1965年出生,博士,研究员,博士研究生导师。主要研究方向为机器人机构学,特种机器人和机电一体化技术等。E-mail:hgwang@sia.cn;姜勇,男,1975年出生,博士,副研究员。主要研究方向为机器人智能控制,嵌入式系统,特种机器人系统及应用。E-mail:jiangyong@sia.cn
基金资助:
国家自然科学基金资助项目（51535008）。

Gravity Unloading Precision Analysis of Air Bearing Facility

YANG Guoyong^1,2, WANG Hongguang¹, JIANG Yong¹, LING Lie¹, CHANG Yong¹, GAO Feng³, YANG Fan³

1. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016;
2. University of Chinese Academy of Sciences, Beijing 100049;
3. Beijing Institute of Control Engineering, Beijing 100080

Received:2018-03-20 Revised:2018-10-11 Online:2019-03-05 Published:2019-03-05

摘要/Abstract

摘要： 针对中继卫星天线驱动机构，提出了一种在地面进行分级同步重力卸载的气浮试验台，对卫星天线驱动机构的性能进行测试。介绍了分级同步重力卸载的机理和气浮试验台的结构，通过运动学动力学推导，计算了天线驱动机构两个关节的驱动力矩，通过对其运行状态进行分析，得到试验台稳定运行时的重力卸载精度影响因素，包括可调弹簧机构的弹簧力、水平轴负载不平衡、同轴度偏差、气足和气浮主轴黏滞阻力和花岗岩平台的水平程度。对各个影响因素进行详细的分析，确定其对重力卸载精度影响的程度，采用层次分析法，得到了气浮试验台的重力卸载精度。结果表明可调弹簧机构和水平轴负载的不平衡对重力卸载精度的影响较大，因此在试验台调试阶段需要对这两项进行微调，提高重力卸载精度。通过对试验台的测试，证明了重力卸载的有效性，同时得到各个因素对重力卸载精度的整体影响程度，与理论分析结果相符。

关键词: 气浮试验台, 气浮主轴, 气足, 重力卸载, 重力卸载精度

Abstract: A hierarchical and simultaneous gravity unloading facility is proposed. This facility is presented with air bearing to unload the gravity on the ground for testing the tracking and data relay satellite antenna pointing mechanism. The unloading method and the configuration are described and the running state is analyzed. The torque of two joints of antenna pointing mechanism is calculated by deriving the kinematics and dynamics models. The parameters which affect the gravity unloading precision are found:The force of the adjustable spring mechanism, the unbalance of the horizontal load, the deviation of concentricity, the viscous resistance of air bearing and level degree of granite platform. Those parameters are analyzed in detail with the influence on the gravity unloading precision. The theoretical unloading precision is derived by hierarchy analysis. The spring force and the unbalance of horizontal load are main parameters which reduce the precision, so those two parameters should be adjusted specially to improve the gravity unloading precision. The effectiveness of the gravity unloading method is proved with the test of the facility. The reduction of gravity unloading precision by those factors is got and the results match the analysis.

Key words: air bearing facility, air spindle, gravity unloading, gravity unloading precision, planar air bearing

中图分类号:

TH69

杨国永, 王洪光, 姜勇, 凌烈, 常勇, 高峰, 杨帆. 气浮试验台重力卸载精度分析[J]. 机械工程学报, 2019, 55(5): 1-10.

YANG Guoyong, WANG Hongguang, JIANG Yong, LING Lie, CHANG Yong, GAO Feng, YANG Fan. Gravity Unloading Precision Analysis of Air Bearing Facility[J]. Journal of Mechanical Engineering, 2019, 55(5): 1-10.

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气浮试验台重力卸载精度分析

Gravity Unloading Precision Analysis of Air Bearing Facility

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