FAST工程馈源舱Stewart平台的机构精度标定  

Mechanism accuracy calibration for FAST feed cabin stewart platform

作　　者：李建军[1] 王宇哲[1] 贾彦辉[1] 段艳宾[1] 

机构地区：[1]中国电子科技集团公司第五十四研究所,河北石家庄050080

出　　处：《河北省科学院学报》2015年第2期22-25,共4页Journal of The Hebei Academy of Sciences

基　　金：国家自然科学基金资助项目(51205339)

摘　　要：FAST工程采用柔索悬吊方案,利用六根支撑索拖动30t重的馈源舱在百米尺度空间内运动,并将馈源瞬时定位于毫米级精度位置。因此,馈源舱的主要执行机构-Stewart平台必须克服制造误差、刚度变形、测量误差以及外界扰动耦合的影响,实现馈源的定位精度要求。本文分析了Stewart平台的结构、机构、工作原理及误差来源,针对前期的精度标定提出了测量及误差补偿方案,研究内容对于FAST工程大科学目标的顺利实现具有重要的指导意义。Flexible cable-suspended mechanism is adopted in the FAST telescope, 30-DWT feed cabin supported by 6 cables was moved in 100-meter space, simultaneously millimeter scale feed position determining accuracy can be obtained. Therefore, Stewart Platform which was used for main actuator mechanism of feed cabin, must overcome the coupled influence of manufacturing error, rigidity deformation, measurement error and external disturbances, and satisfy the requirement of feed position determining accuracy. The structural, mechanism, operating principle and error sources for Stewart platform was analyzed, also the measurement and error

关 键 词：馈源舱 STEWART平台 位姿 精度标定 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]