用于月壤采样试验验证机构的运动学分析  

Kinematics Analysis of Mechanism for Lunar Soil Sampling Test Verification

作　　者：谢志江[1] 郭宗环[1] 宋代平[1] 姚猛[2] 

机构地区：[1]重庆大学机械传动国家重点实验室,重庆400044 [2]中国空间技术研究院,北京100094

出　　处：《天津大学学报（自然科学与工程技术版）》2017年第6期586-592,共7页Journal of Tianjin University：Science and Technology

基　　金：国家自然科学基金重点资助项目(U1530138)~~

摘　　要：以月壤采样封装专项试验验证为基础,设计了一套实现姿态调整的3自由度并联机构.根据机构运动特点利用修正的G-K公式求解机构自由度.建立机构封闭矢量图求解得到运动学逆解,得到3根驱动杆杆长.用1阶影响系数法求解机构速度雅可比矩阵.采用Adams与Matlab对比验证该机构的运动学逆解的正确性;采用牛顿-迭代法求解机构运动学正解,并借助于激光跟踪仪测试以验证求解正解的正确性.结果表明,a、b角度误差为0.02°,z方向的误差为0.01mm,该机构可满足开展相关采样封装专项试验验证的要求.Based on the experimental verification of the lunar soil sampling and packaging,a novel parallel mecha-nism with three degrees of freedom is designed. In accordance with the motion characteristics of the mechanism,the degrees of freedom was calculated by modified G-K formula. By utilizing the closed vector,the solution to the in-verse kinematics and three driving rods were obtained. Velocity Jacobian matrix was derived with the first-order influ-ence coefficient method. Adams and Matlab were used in verifying the correctness of the inverse kinematics of themechanism. The problem of forward kinematics was solved by Newton iterative method. The correctness of the solu-tion was verified with the help of the laser tracker tests. The results show that the errors of α and β are both0.02°, and the error of z is 0.01,mm, which proves that the mechanism could meet the requirements of the relevant sampling and packaging.

关 键 词：采样封装 并联机构 封闭矢量 牛顿-迭代法 1阶影响系数法 激光跟踪仪 

分 类 号：TH242[机械工程—机械制造及自动化]