一种三自由度混联机构复位精度的研究

Study on the Reset Accuracy of a 3-DOF Hybrid Manipulator

1.
School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074

摘要: 介绍一种用于惯性约束核聚变诊断设备定位与对准的搭载平台,该平台为一个三自由度混联机构,利用矩阵计算给出了平台输出末端位置的反解的封闭形式。在此基础上,通过末端形变与重心位置的关系推导出影响复位精度的误差模型。根据实测误差数值与误差模型计算数值之间的偏差,分析偏差产生原因,在反复实验的基础上,找出固定运动路径下的偏差补偿系数,对复位过程的径向运动给予补偿,使得最终运动误差达到使用要求。
- 三自由度 /
- 混联机构 /
- 复位精度 /
- 误差模型 /
- 补偿系数
Abstract: The diagnostic instrument manipulator(DIM) for the instruments pointing and positioning in inertial confinement fusion(ICF) is introduced.The DIM is a 3 degree of freedom(DOF) hybrid manipulator,and its structure and working principle are introduced in this paper.The close-form inverse kinematics of the manipulator's end is presented.Moreover,the error model of the reset accuracy is formulated,based on the relationship between the end's deformation and the gravity center of the inner tube.According to the deviation between the calculation error and measurement error fluctuating within a small range,a compensation coefficient can be found to compensate the accuracy of the original motion.
- 3- DOF /
- hybrid manipulator /
- reset accuracy /
- error model /
- compensation coefficient

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