摘要
针对目前双晶单色仪晶体箱调控装置的缺陷,提出了一种新型晶体箱调控装置,该装置采用3-3PS并联机构实现对晶体箱的6自由度位姿调节。详细分析了3-3PS并联机构的机构模型、自由度计算、位置逆解以及位姿调节分辨率,并对3-3PS并联机构式晶体箱调控装置结构设计作了介绍。该装置应用于北京同步辐射装置扩展X射线吸收精细结构(EXAFS)光束线双晶单色仪中,位置精度优于0.05 mm,姿态调节精度优于10 arcsec。
In order to overcome the shortcomings of the adjusting equipment for crystal chamber in a double-crystal monochromator, a novel adjusting equipment was put forward, which utilizes 3-3PS parallel ma nipulator to adjust the 6-DOF pose of crystal chamber. The mechanism model, freedom calculation, inverse kinematics of 3-3PS parallel manipulator were analyzed. The structure of the adjusting equipment with 3-3PS parallel manipulator was introduced. The novel equipment was applied in the double-crystal monochromator of XAFS beam line in Beijing Synchrotron Radiation Facility. Its position adjustment precision is excelled to O. 05 mm, and its attitude adjustment precision is excelled to 10 arcsec.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2006年第2期220-223,共4页
Journal of Shanghai Jiaotong University
关键词
3-3PS并联机构
双晶单色仪
晶体箱
3-3PS parallel manipulator
double-crystal monochromator
crystal chamber
