六杆并联机构运动学正解研究及其在同步辐射光束线中的应用  

Forward kinematics of six-bar parallel mechanism and its applications in synchrotron radiation beam-line

作　　者：卢启鹏[1] 李勇军[1,2] 彭忠琦[1] 凌丽青[1,2] 

机构地区：[1]中国科学院长春光学精密机械与物理研究所,吉林长春130033 [2]中国科学院研究生院,北京100039

出　　处：《光学精密工程》2008年第10期1874-1879,共6页Optics and Precision Engineering

基　　金：国家重大科学工程:上海光源工程资助项目(No.SS-06,O7093XQ070)

摘　　要：从相关物理模型出发,以同步辐射光束线六杆并联机构的运动学反解为基础,采用信赖域法优化了非线性超越方程组,编制了相应的MATLAB程序,得到了机构的运动学正解。实例应用结果表明,信赖域法是解决运动学正解问题的有效途径,求解程序稳定可靠,运算速度快,误差小,线性精度达10-12mm,转动精度达10-15°。采用差动螺旋的微动调节方式,即可使单色器箱体姿态的线性调节分辨达5μm,转角分辨达3″,完全满足实际工作的要求。Six-bar parallel mechanism is widely used in synchrotron radiation beam-line. Based on the inverse kinematics, the forward kinematics of six-bar parallel mechanism in synchrotron radiation beam-line was obtained by trust region method for nonlinear optimization, and the corresponding program of MATLAB language was also designed. The application results show that the trust region method is an effective way to study forward kinematics, and proposed program allows stable, reliable and fast operation and gives small errors in linear precision of 10^-12 mm and rotational precision of 10^-15°. Using differential snail adjustment, the attitude of monoehromator box can achieve a linear resolution of 5μm and a rotational resolution of 3”, which entirely satisfies the practical requirements.

关 键 词：同步辐射 单色器 六杆并联机构 运动学正解 信赖域法 

分 类 号：O432.1[机械工程—光学工程] TH113.2[理学—光学]