Forward displacement analysis for 5TSP-PPS parallel mechanism of large aperture grating tiling

WU Shi-lei; SHAO Zhong-xi; ZHANG Wei-Hui; FU Hong-ya

doi:10.3788/OPE.20162413.0535

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Forward displacement analysis for 5TSP-PPS parallel mechanism of large aperture grating tiling

更新时间：2020-08-13

- Forward displacement analysis for 5TSP-PPS parallel mechanism of large aperture grating tiling
- Optics and Precision Engineering Vol. 24, Issue 10s, Pages: 535-542(2016)
- 作者机构：
  
  哈尔滨工业大学机电工程学院,黑龙江哈尔滨,150001
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20162413.0535
  CLC： TP242
- Received：07 April 2016，
  
  Revised：10 May 2016，
  
  Published：14 November 2016
- 稿件说明：
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吴石磊, 邵忠喜, 张文辉等. 面向大口径光栅拼接的5TSP-PPS并联机构位置正解分析[J]. 光学精密工程, 2016,24(10s): 535-542

WU Shi-lei, SHAO Zhong-xi, ZHANG Wei-Hui etc. Forward displacement analysis for 5TSP-PPS parallel mechanism of large aperture grating tiling[J]. Editorial Office of Optics and Precision Engineering, 2016,24(10s): 535-542
吴石磊, 邵忠喜, 张文辉等. 面向大口径光栅拼接的5TSP-PPS并联机构位置正解分析[J]. 光学精密工程, 2016,24(10s): 535-542 DOI： 10.3788/OPE.20162413.0535.

WU Shi-lei, SHAO Zhong-xi, ZHANG Wei-Hui etc. Forward displacement analysis for 5TSP-PPS parallel mechanism of large aperture grating tiling[J]. Editorial Office of Optics and Precision Engineering, 2016,24(10s): 535-542 DOI： 10.3788/OPE.20162413.0535.

摘要

为了满足大口径光栅拼接装置大负载、高精度、高稳定性的要求，提出了一种5TSP-PPS并联机构，并采用螺旋理论分析了该机构实现空间二维移动和三维转动（2T3R）的机构学原理。以机构的TS杆长为约束条件，基于矢量法建立约束方程，推导位置正、反解的非线性方程组。为提高位置正解的计算效率，将简化Newton法应用到位置正解分析。数值算例表明：与Newton相比，简化Newton法能提高位置正解的计算效率。位置正解计算结果与给定位姿的姿态误差小于8.510

-9

rad，位置误差小于810

-10

m，验证了5TPS-PPS并联机构位置正解分析的正确性。本研究为新型大口径光栅拼接装置的标定、误差分析以及位置闭环的实时控制等进一步研究奠定了基础。

Abstract

To meet requirement of heavy load

high precision and high stability of heavy caliber grating tiling device

5TSP-PPS parallel mechanism is put forward

and screw theory is adopted to analyze mechanism theory of the mechanism to realize two-dimension movement and three-dimension movement (2T3R) of space. Take TS rod length as constraint condition and establish constraint equation on the basis of vector method and deduct nonlinear equation system of forward position and inverse position. To improve computational efficiency of forward position

apply simplified Newton method to forward position analysis. Numerical example shows that:compared with Newton

simplified Newton method can improve computational efficiency of forward position. Attitude error between computational result of forward position and given pose is lower than 8.510

-9

rad and location error is lower than 810

-10

which verifies correctness of forward position analysis of 5TPS-PPS parallel mechanism. The research lays a foundation for further study of calibration of new heavy caliber grating tiling device

error analysis and real-time control of closed position loop.

关键词

Keywords

references

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