基于Denauit-Hartenbery的高分辨Kirkpatrick-Baez镜成像结构设计与控制方法研究  

Denauit⁃Hartenbery based image design and control method of high resolution Kirkpatrick⁃Baez mirror

作　　者：王洪建[1] 肖沙里[2] 林睿[3] 蒋昀赟[1] WANG Hongjian;XIAO Shali;LIN Rui;JIANG Yunyun(Chongqing Key Laboratory of Manufacturing Equipment Mechanism Design and Control,Chongqing Technology and Business University,Chongqing 400067;Key Laboratory of Opto⁃electronic Technology and System,the Ministry of Education,Chongqing University,Chongqing 400030;School of Computer Science and Information Engineering,Chongqing Technology and Business University,Chongqing 400067)

机构地区：[1]重庆工商大学制造装备机构设计与控制重庆市重点实验室,重庆400067 [2]重庆大学光电技术及系统教育部重点实验室,重庆400030 [3]重庆工商大学计算科学与信息工程学院,重庆400067

出　　处：《南京信息工程大学学报（自然科学版）》2020年第3期341-346,共6页Journal of Nanjing University of Information Science & Technology（Natural Science Edition）

基　　金：国家重点研发计划(2018YFB1306602);重庆市技术创新与应用发展专项(cstc2019jscx⁃msxmX0032);重庆市中小学创新人才培养工程项目计划(CY190802);重庆工商大学科研平台项目(KFJJ2016031,KFJJ2017052,KFJJ2017053)。

摘　　要：针对在高能等离子体X射线诊断中的Kirkpatrick-Baez(KB)高分辨显微控制较困难的问题,基于Denauit-Hartenbery(DH)原理,率先提出了双5自由度KB镜成像结构,分析了双机械手的各个连杆坐标系和位姿结构的运动学方程,从理论上分析双5自由度KB镜的像差.在此基础上搭建双5自由度KB镜光路系统,编制了KB镜控制流程,并获取了清晰的十字成像.实验结果表明,该方法设计的双5自由度机械手控制方法可以实现KB镜的精确控制,从而得到高精度分辨成像效果.In view of the difficult situation of Kirkpatrick⁃Baez(KB)high⁃resolution micro⁃control in high⁃energy plasma X⁃ray diagnosis,a new method of realizing high⁃resolution micro⁃control based on Denauit⁃Hartenbery(DH)coordinate system is proposed.In this structure,the front and rear lenses of the KB microscope are used as the rigid manipulator with double 5 degrees of freedom(DOF)respectively to realize the control of the double 5⁃DOF.The new method is modeled theoretically and the kinematic equations of each linkage coordinate system and structure of the two manipulators are analyzed.The optical system of the double 5⁃DOF manipulator is built,and the proposed KB mirror control method is verified by experiments.The experimental results show that the double 5⁃DOF manipula⁃tor designed can realize the precise control of the KB mirror and obtain high precision resolution imaging effect.

关 键 词：高分辨KB镜 机器手 运动学 像散 

分 类 号：TH742[机械工程—光学工程]