面向机载光电平台的串联球面机构运动学建模与验模

王玫羽; 田大鹏; 郭立红

doi:10.3788/OPE.20202808.1725

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面向机载光电平台的串联球面机构运动学建模与验模

微纳技术与精密机械 | 更新时间：2020-08-14

- 面向机载光电平台的串联球面机构运动学建模与验模
- Kinematics modeling and model validation of series spherical mechanism for photoelectric platform
- 光学精密工程 2020年28卷第8期页码：1725-1732
- 作者机构：
  
  1.中国科学院长春光学精密机械与物理研究所, 吉林长春 130033
  2.中国科学院大学, 北京 100049
  3.中国科学院航空光学成像与测量重点实验室, 吉林长春 130033
- 作者简介：
  
  [ "王玫羽(1994-), 女, 河北沧州人, 博士研究生, 2012年于山东大学获得学士学位, 主要从事机载光电载荷视轴指向控制方面的研究。E-mail:wangmeiyu19@126.com" ]
  田大鹏(1984-), 男, 辽宁铁岭人, 研究员, 博士生导师, 中国科学院青年创新促进会会员, IEEE高级会员(IEEE Senior Member), 2007年于北京理工大学获得学士学位, 2012年于北京航空航天大学获得博士学位, 2009-2012年任日本庆应义塾大学先导研究中心共同研究员, 主要从事运动控制理论与技术方面的研究。E-mail:d.tian@ciomp.ac.cnTIAN Da-peng, E-mail:d.tian@ciomp.ac.cn
- 基金信息：
  
  国家自然科学基金资助项目(61673365);中国科学院青年创新促进会资助项目(2017257);吉林省与中国科学院科技合作高技术产业化专项资金资助项目(2019SYHZ0016)
- DOI：10.3788/OPE.20202808.1725
  中图分类号： TH16;TP391
- 收稿日期：2020-01-07，
  
  修回日期：2020-02-18，
  
  录用日期：2020-2-18，
  
  纸质出版日期：2020-08-25
- 稿件说明：
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王玫羽, 田大鹏, 郭立红. 面向机载光电平台的串联球面机构运动学建模与验模[J]. 光学精密工程, 2020,28(8):1725-1732.

Mei-yu WANG, Da-peng TIAN, Li-hong GUO. Kinematics modeling and model validation of series spherical mechanism for photoelectric platform[J]. Optics and precision engineering, 2020, 28(8): 1725-1732.
王玫羽, 田大鹏, 郭立红. 面向机载光电平台的串联球面机构运动学建模与验模[J]. 光学精密工程, 2020,28(8):1725-1732. DOI： 10.3788/OPE.20202808.1725.

Mei-yu WANG, Da-peng TIAN, Li-hong GUO. Kinematics modeling and model validation of series spherical mechanism for photoelectric platform[J]. Optics and precision engineering, 2020, 28(8): 1725-1732. DOI： 10.3788/OPE.20202808.1725.

摘要

传统机载光电平台框架结构限制了其载荷比，采用新型串联球面机构可以解决这一问题但缺少运动学模型作为设计支撑。基于D-H参数法，建立面向机载光电平台的串联球面机构正、逆运动学模型；采用MATLAB进行运动学模型的解算，并与多体动力学分析软件ADAMS进行比对验证模型的正确性；搭建了实验装置对实际传感器数据进行采集并进行运动学模型验证实验。实验结果表明，运动学模型在实验装置上的计算值与实测值之间的误差在5%以内且主要来自实验系统的机械加工装调误差和传感器测量误差。建立的模型为基于球面机构的光电平台视轴指向控制等应用研究奠定了基础。

Abstract

The traditional framework structure of airborne photoelectric platforms limits their load ratio. A new series spherical mechanism could solve this problem

but there is no kinematic model to support the design. Based on the D-H parameter method

the forward and inverse kinematics models of the series spherical mechanism were established. The kinematic model was solved using MATLAB

and the correctness of the model was verified by comparison with ADAMS

a multi-body dynamic analysis software.The experimental device was set up to collect and perform the kinematic model verification experiment.The results show that the experimental error between the calculated value and the measured value of the kinematics model in the experimental equipment is within 5% and is mostly a result of machining adjustment error and sensor measurement error in the experimental system. The model established provides a solid foundation for application in research on optoelectronic platform visual axis pointing control based on a spherical mechanism.

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references

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