并联机构动平台的六自由度位姿检测机构
2018-11-12
作者：王晓飞1，王进2，樊锐1，刘红艺1，郭江真1，王丹1，陈五一1
单位：1北京航空航天大学；2北京遥测技术研究所
摘要：介绍了并联机构动平台的六自由度位姿检测机构的组成结构和工作原理；介绍了光栅尺测量系统，对其误差来源进行了分析，对主要零部件的设计进行了优化以保证其测量精度；采用牛顿迭代法解算并联机构的运动学正解，通过实验验证了其测量精度的可靠性和实时性。
关键词：并联机构；光栅尺测量系统；牛顿迭代法；测量精度；实时性
中图分类号：TG802；TH162文献标志码：A
Pose Detection Mechanism Based on Six Degree of Freedom Parallel Mechanism Platform
Wang Xiaofei，Wang Jin，Fan Rui，Liu Hongyi，Guo Jiangzhen，Wang Dan，Chen Wuyi
Abstract:The structure measuring theory of the pose detection mechanism based on six degree of freedom parallel mechanism platform and the grating measurement system are introduced.The source of the measurement error of grating measurement system is analyzed and the design of the main parts is optimized to ensure the measurement accuracy.The kinematic positive solution of parallel mechanism is calculated by Newton iterative method.The reliability of the measurement accuracy is verified by the experiment.
Keywords:parallel mechanism；grating measurement system；Newton iterative method；measurement accuracy；realtime