摘要
设计了一个用于惯性约束核聚变诊断设备定位与对准的搭载平台。该平台采用三自由度混联机构,具有进行两转动一平动的姿态调节能力。给出了平台输出件末端位置的反解及正解的封闭解形式。在此基础上,利用矩阵法结合从运动学方程得到的结论,推导出驱动杆杆长误差、球铰虎克铰间隙误差和球销副间隙定位误差与搭载平台终端位姿误差的映射关系。利用蒙特卡罗方法模拟分析了各几何误差源对搭载平台终端定位能力的影响。球销副的绝对误差较大并处于动平台的支撑点,所以它对搭载平台终端定位精度的影响较大。在不同姿态角相同误差输入条件下,对搭载平台终端误差输出进行了仿真,结果表明：俯仰角变化对输出误差的影响比偏航角变化的影响要大1-2倍。
The diagnostic instrument manipulator（DIM） is designed for the instruments pointing and positioning in inertial confinement fusion（ICF） experiment.The DIM is a hybrid manipulator and provides precision 2-rotation and 1-translation capability for positioning of diagnostic packages.The inverse kinematics and close-form direct kinematics of the DIM are presented.Moreover,the error mapping function,which represents the end positioning error resulted from limbs length error and joint clearances,is formulated by using matrix method with the differential of kinematics function.Monte-Carlo method is involved in influencing factors analysis on the capability of DIM positioning.The clearances of sphere-pin-joint has a greater negative impact on DIM terminal error than other source errors because of its large absolute errors.Finally,a simulation is performed for observing the varying profile of DIM positioning error with the same source errors at different pitch and yaw.It indicates that the varying of pitch is more effective on DIM terminal error than the varying of yaw.
出处
《强激光与粒子束》
EI
CAS
CSCD
北大核心
2010年第6期1259-1264,共6页
High Power Laser and Particle Beams
基金
国家973计划项目(2009CB724204)
国家自然科学基金项目(50875103)
关键词
诊断设备搭载平台
混联机构
误差模型
蒙特卡罗模拟
diagnostic instrument manipulator
hybrid manipulator
error molding
Mote Carlo simulation
