Gough-Stewart平台机构的普适工作空间及其几何求解  

Universal workspace characteristics of Gough-Stewart platform and its analytic solution

作　　者：徐刚[1] 杨世模[1] 

机构地区：[1]中国科学院国家天文台

出　　处：《光学精密工程》2008年第2期257-264,共8页Optics and Precision Engineering

基　　金：国家自然科学基金资助项目(No.10778628)

摘　　要：针对大型光学望远镜副镜位姿调节机构的优化设计,为了实现不同结构参数的Gough-Stewart平台机构的性能比较,提出了普适工作空间的概念,并给出其几何求解方法。普适工作空间是以杆长为限定条件,动定平台始终保持平行时,动平台在36个特定方向上运动范围的交集。普适工作空间具有无需降维描述,外形为简单规则的旋转体,可采用几何方法直接求解空间边界等优点。经算例验证:不同结构参数的Gough-Stewart平台机构都能求解出形状相似、规则、简单的普适工作空间,使总体评价机构性能的指标具有可比性;与其它工作空间相比,普适工作空间使性能指标的计算量分别降低约10%、11%和14%。For purpose of the optimal design a fine adjusting instrument for pose and position of secondary mirror in optical telescope, a new concept of universal workspace was proposed and its analytic method was also discussed in order to make a comparison between different designs of the GoughStewart platform. The universal workspace is the intersection of movement ranges in 36 special directions when the platform parallels to the base and the strut-length qualification is also met. The universal workspace has advantages in that it can be described directly without any additional changes; the figure of the universal workspace is simple and regular revolving solid; also its analytic solution is the boundary coordinates of universal workspace. By comparing the performance index among several designs, the re.suits indicate that the universal workspaces have the universal characteristic in despite of the distinct differences from mechanism parameters among designs. Compared with Other workspaces, the calculated amount by proposed universal workspace can reduce by 10%, 11% and 14%, respectively.

关 键 词：望远镜副镜 位姿调节机构 优化设计 Gough-Stewart平台机构 工作空间 解析解 

分 类 号：TH743[机械工程—光学工程]