并联6-RUS卫星相机像移补偿机构建模与分析  

Modelling and Analysis of 6-RUS Parallel Mechanism of Image Compensation of Satellite Camera

作　　者：赵延治[1,2] 赵飞[1,2] 杨建涛[1,2] 李兴兴[1,2] 赵铁石[1,2] 

机构地区：[1]燕山大学河北省并联机器人与机电系统重点实验室,秦皇岛066004 [2]先进锻压成形技术与科学教育部重点实验室,秦皇岛066004

出　　处：《中国机械工程》2016年第3期369-375,共7页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(51105322);河北省自然科学基金资助项目(E2014203176);河北省高等学校自然科学研究基金资助项目(QN2015040)

摘　　要：将并联6-RUS机构作为卫星相机像移补偿机构,以补偿在轨卫星多维耦合运动引起的像移。基于影响系数理论,利用旋量速度、旋量加速度建立了卫星相机像移补偿机构的运动学模型。利用基于旋量理论的牛顿欧拉方程,在非惯性系建立了该机构的动力学模型,并分析了非惯性系运动对机构输入的全域影响。该种基于旋量的机构建模方法,利用坐标不变性直接在非惯性系建模,简化了机构建模过程。A parallel 6-RUS mechanism was used as the compensation platform for image motion which was caused by the multi-dimensional motion of the satellite. Based on influence coefficient theory, the kinematics model of this mechanism was built by velocity screw and acceleration screw. The dynamics model of this parallel platform in non-inertial frame was developed taking advantage of Newton-Euler＇s equation based on screw theory, and then the influence of the motion of the non-inertial frame on input of the mechanism in the whole working space was analysed. This mechanism modeling method was simplified with screw using coordinate-invariant in the non-inertial system.

关 键 词：非惯性系 像移补偿 并联机构 旋量理论 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TH112[自动化与计算机技术—控制科学与工程]