面向机载光电平台的串联球面机构运动学建模与验模  

Kinematics modeling and model validation of series spherical mechanism for photoelectric platform

作　　者：王玫羽 田大鹏[1,2,3] 郭立红 WANG Mei-yu;TIAN Da-peng;GUO Li-hong(Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China;University of Chinese Academy of Sciences, Beijing 100049, China;Key Laboratory of Airborne Optical Imaging and Measurement, Chinese Academy of Sciences, Changchun 130033, China)

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]中国科学院大学,北京100049 [3]中国科学院航空光学成像与测量重点实验室,吉林长春130033

出　　处：《光学精密工程》2020年第8期1725-1732,共8页Optics and Precision Engineering

基　　金：国家自然科学基金资助项目(No.61673365);中国科学院青年创新促进会资助项目(No.2017257);吉林省与中国科学院科技合作高技术产业化专项资金资助项目(No.2019SYHZ0016)。

摘　　要：传统机载光电平台框架结构限制了其载荷比,采用新型串联球面机构可以解决这一问题但缺少运动学模型作为设计支撑。基于D-H参数法,建立面向机载光电平台的串联球面机构正、逆运动学模型;采用MATLAB进行运动学模型的解算,并与多体动力学分析软件ADAMS进行比对验证模型的正确性;搭建了实验装置对实际传感器数据进行采集并进行运动学模型验证实验。实验结果表明,运动学模型在实验装置上的计算值与实测值之间的误差在5%以内且主要来自实验系统的机械加工装调误差和传感器测量误差。建立的模型为基于球面机构的光电平台视轴指向控制等应用研究奠定了基础。The traditional framework structure of airborne photoelectric platforms limits their load ratio.A new series spherical mechanism could solve this problem,but there is no kinematic model to support the design.Based on the D-H parameter method,the forward and inverse kinematics models of the series spherical mechanism were established.The kinematic model was solved using MATLAB,and the correctness of the model was verified by comparison with ADAMS,a multi-body dynamic analysis software.The experimental device was set up to collect and perform the kinematic model verification experiment.The results show that the experimental error between the calculated value and the measured value of the kinematics model in the experimental equipment is within 5%and is mostly a result of machining adjustment error and sensor measurement error in the experimental system.The model established provides a solid foundation for application in research on optoelectronic platform visual axis pointing control based on a spherical mechanism.

关 键 词：串联球面机构 D-H参数法 运动学模型 ADAMS与MATLAB联合仿真 

分 类 号：TH16[机械工程—机械制造及自动化] TP391[自动化与计算机技术—计算机应用技术]