Stewart六自由度并联机构位姿分辨率分析方法  

Pose Resolution Analysis Method of a Stewart 6-DOF Parallel Mechanism

作　　者：梁凤超[1] 赵筱琳[1] 谭爽[1] 范建凯 林喆[1] 石志成[1] LIANG Fengchao;ZHAO Xiaolin;TAN Shuang;FAN Jiankai;LIN Zhe;SHI Zhicheng(Beijing Institute of Space Mechanics&Electricity,Beijing 100090)

机构地区：[1]北京空间机电研究所,北京100090

出　　处：《长春理工大学学报（自然科学版）》2022年第6期110-117,共8页Journal of Changchun University of Science and Technology(Natural Science Edition)

基　　金：装备发展部中俄联合研制项目(03CN19018/2021GWKJ-5Y-LZYD)。

摘　　要：位姿分辨率是Stewart六自由度并联机构的核心指标,是实现空间相机次镜精密位姿调整的关键。为研制高分辨率六自由度并联机构,提出基于支链增量同比缩放及支链分辨率量化的位姿分辨率分析方法,通过计算目标位姿支链增量并同比例缩小、量化得到最小支链增量、杆长,进而正解,在设计阶段求得六个单自由度最小运动增量即位姿分辨率。应用VC++编写了分析软件,设计了某高分辨率空间相机次镜六自由度并联机构。实测结果表明:位姿分辨率分析结果与实测值基本一致,该分析方法具有较强的工程指导价值。Pose resolution is the core index of Stewart 6-DOF parallel mechanism and the key to realize the precise pose adjustment of space camera secondary mirror.In order to develop a high-resolution 6-DOF parallel mechanism,a pose resolution analysis method based on the same scale scaling of struts increment and struts resolution quantization is proposed.By calculating the target pose struts increment,reducing in the same proportion and quantifying,the minimum struts increment and struts length are obtained.And after positive solution calculation,six single degree of freedom minimum motion increments,namely pose resolution,are obtained.The analysis software is compiled with VC++,and the 6-DOF parallel mechanism of the secondary mirror of a high-resolution space camera is designed.The measured results show that the analysis results of pose resolution are basically consistent with the measured values,and the analysis method has strong engineering guiding value.

关 键 词：STEWART 六自由度 并联机构 位姿 分辨率 次镜 

分 类 号：TH113.22[机械工程—机械设计及理论]