三角码盘定位机构相对于十字码盘的准确度分析和补偿计算  

The Accuracy Analysis and Compensation Calculation of Positioning Mechanism about Triangle Encoder and Cross Encoder

作　　者：唐宁 谢远来 蒋刚[3,4] 留沧海 TANG Ning;XIE Yuan-lai;JIANG Gang;LIU Cang-hai(Institute of Plasma Physics,Chinese Academy of Sciences,Anhui Hefei 230031,China;University of Science and Technology of China,Anhui Hefei 230026,China;Key Laboratory of Testing Technology for Manufacturing Process of Ministry of Education,School of anufacturing Science and Engineering,Southwest University of Science and Technology,Sichuan Mianyang 621010,China;Chengdu University of Technology,The College of Nuclear Technology and Automation Engineering,Chengdu Sichuan 610039,China)

机构地区：[1]中国科学院合肥物质科学研究院,等离子体物理研究所,安徽合肥230031 [2]中国科学技术大学,安徽合肥230026 [3]西南科技大学制造过程测试技术省部共建教育部重点实验室,制造科学与工程学院,四川绵阳621010 [4]成都理工大学核技术与自动化工程学院,四川成都610039

出　　处：《机械设计与制造》2022年第4期14-19,24,共7页Machinery Design & Manufacture

基　　金：CFETR负离子源中性束系统验证样机研制(2017YFE0300103);西南科技大学重点项目(14zx1115)。

摘　　要：一般机构定位方式采用十字码盘定位机构,在制造误差和装配误差存在的情况下,十字码盘定位机构不能保证两轮之间的夹角为绝对的90°,使其测量的位置坐标信息产生误差。这里描述了一种三角码盘定位机构,采用正三角形框架,在三角形顶点分别固定三个正交万向轮,每个轮子轴上安装一个码盘,并用万向节-滑块机构连接三角码盘定位机构与本体,使之更好地贴合地面,实现更加准确地测量位置坐标信息。这里给出了十字码盘定位机构和三角码盘定位机构的系统结构图,分别进行了理论上的结构误差分析,求出了两种定位机构的误差补偿关系式,根据实际测得的角度误差值大小进行补偿,使得定位机构在运行过程中的测量值更加精确。The positioning way of mechanism adopts cross-character encoder positioning mechanism generally,in the case of manufacturing errors and assembly errors,the positioning mechanism of the cross-character encoder cannot guarantee that the angle between two wheels to be absolute 90°,which causes the error of the measured position coordinate information.Describes a trigonometric encoder positioning mechanism,which use an equilateral triangle frame to fix three orthogonal omni wheels at the vertex of the triangle,an encoder is installed for each wheel corresponding to the position and there is equipped with a universal joint-slider mechanism in the triangle encoder positioning mechanism and the body,so as to better fit the ground and realize more accurate measurement of position coordinate information.System structure of the positioning mechanism of the cross encoder and the positioning mechanism of the triangle encoder is given,and the structural error analysis of the theoretical structure is carried out respectively,and the error compensation relationship of the two positioning mechanisms is obtained,the compensation is carried out according to the actual measured angle error value,so that the measurement value of the positioning mechanism in the operation process is more accurate.

关 键 词：三角码盘 十字码盘 正交万向轮 定位系统 

分 类 号：TH16[机械工程—机械制造及自动化] TH11