空间光学镜并联指向机构优化

李仕华; 孙静; 单彦霞; 高振辉; 张建伟

doi:10.3788/OPE.20192703.0637

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空间光学镜并联指向机构优化

微纳技术与精密机械 | 更新时间：2020-08-13

- 空间光学镜并联指向机构优化
- Optimization of novel parallel pointing mechanism for space optical mirror
- 光学精密工程 2019年27卷第3期页码：637-644
- 作者机构：
  
  1.燕山大学河北省并联机器人与机电系统实验室，河北秦皇岛 066004
  2.燕山大学里仁学院，河北秦皇岛 066004
- 作者简介：
  
  [ "李仕华(1966-)，男，山东莱西人，教授，博士生导师，1989年、1996年于东北重型机械学院分别获得学士学位和硕士学位, 2004年于燕山大学获得博士学位，主要从事并联机器人技术及理论方面的研究。E-mail:shli@ysu.edu.cn" ]
  [ "孙静(1989-)，男，河北唐山人，博士研究生，2014年于燕山大学获得学士学位，主要从事并联机器人技术及理论、机构动力学方面的研究。E-mail: 990294539@qq.com" ]
- 基金信息：
  
  国家自然科学基金资助项目(51775475);河北省自然科学基金重点项目资助(E2016203463);河北省研究生创新资助项目(CXZZBS2018046)
- DOI：10.3788/OPE.20192703.0637
  中图分类号： TH112
- 收稿日期：2018-09-27，
  
  录用日期：2018-11-12，
  
  纸质出版日期：2019-03-15
- 稿件说明：
移动端阅览
李仕华, 孙静, 单彦霞, 等. 空间光学镜并联指向机构优化[J]. 光学精密工程, 2019,27(3):637-644.

Shi-hua LI, Jing SUN, Yan-xia SHAN, et al. Optimization of novel parallel pointing mechanism for space optical mirror[J]. Optics and precision engineering, 2019, 27(3): 637-644.
李仕华, 孙静, 单彦霞, 等. 空间光学镜并联指向机构优化[J]. 光学精密工程, 2019,27(3):637-644. DOI： 10.3788/OPE.20192703.0637.

Shi-hua LI, Jing SUN, Yan-xia SHAN, et al. Optimization of novel parallel pointing mechanism for space optical mirror[J]. Optics and precision engineering, 2019, 27(3): 637-644. DOI： 10.3788/OPE.20192703.0637.

摘要

针对空间光学镜指向机构高精度、轻量化的特殊要求，提出一种基于球面5R机构的新型空间二维并联指向机构。传统球面5R并联机构存在负载不便安装的问题，通过设计非对称支链形式和特殊连杆结构，有效解决了这一问题。基于机构的运动学分析，以工作空间、灵巧性和承载能力作为优化指标，采用图谱法对机构的结构参数进行了优化设计。采用有限元方法对优化后机构的不同负载布置形式进行模态分析。优化结果表明非对称支链形式机构具有更好的灵巧性指标。设计光学镜负载质心位于球面机构球心处，结构更加紧凑，可以提高机构固有频率，并且能够降低负载运动转动惯量。提出的新型空间光学镜并联指向机构具有良好的综合性能，研究为高精度并联光学指向机构的应用提供了理论基础。

Abstract

To meet the high-precision and lightweight requirements of a space optical mirror pointing mechanism

a type of space parallel mechanism based on a spherical 5R mechanism was proposed. Load mounting with traditional 5R parallel mechanisms was difficult. To solve this problem

asymmetrical branches and specific linkages were designed. Workspace

dexterity and carrying capacity were used as optimal indices

and structural parameter optimization design was conducted based on performance atlases. Model analysis of the optimized mechanism was conducted by using the finite element method. Optimization results show that the asymmetrical branched-chain mechanism has a better index of dexterity. The barycenter of the pointing mirror load was designed at the center of the spherical mechanism

which makes the mechanism more compact and increases its natural frequency. The proposed parallel pointing mechanism was shown to have good integrated performance. This study provides a basis for high-precision space optical pointing applications.

关键词

Keywords

references

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