于荣荣,李永亮,董礼港,吕宠,王国欣.移动并联式六自由度转运调姿方法研究[J].农业机械学报,2021,52(7):421-426.
YU Rongrong,LI Yongliang,DONG Ligang,LÜ Chong,WANG Guoxin.Six Degrees of Freedom Transfer and Attitude Adjustment Method of Mobile Parallel[J].Transactions of the Chinese Society for Agricultural Machinery,2021,52(7):421-426.
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移动并联式六自由度转运调姿方法研究   [下载全文]
Six Degrees of Freedom Transfer and Attitude Adjustment Method of Mobile Parallel   [Download Pdf][in English]
投稿时间:2020-06-26  
DOI:10.6041/j.issn.1000-1298.2021.07.047
中文关键词:  六自由度  转运调姿  位姿矩阵  全向移动  3-RPS并联调姿机构
基金项目:科工局基础科研项目
作者单位
于荣荣 北京卫星制造厂有限公司 
李永亮 北京卫星制造厂有限公司 
董礼港 北京卫星制造厂有限公司 
吕宠 北京空间机电研究所 
王国欣 北京卫星制造厂有限公司 
中文摘要:针对大型航天相机长距离转运和快速精确自动调姿需求,提出一种基于全向移动平台和3-RPS并联调姿机构的移动并联式六自由度调姿方法。首先,测得相机当前姿态和目标姿态,推导二者位姿矩阵;通过运动学模型反解全向移动平台和并联调姿机构的各轴运动参数,将多轴耦合的空间六自由度完全解耦;建立全向移动平台和并联机构的运动学模型,实现上述运动参数的驱动;最后,进行了调姿算法试验,结果表明,调姿设备能够快速精准实现大型相机任意姿态向目标姿态的自动化柔性姿态调整,全向移动平台移动精度优于0.3mm,旋转精度优于0.05°,并联机构杆长精度优于0.5mm,验证了自动调姿的准确性。
YU Rongrong  LI Yongliang  DONG Ligang  Lü Chong  WANG Guoxin
Beijing Spacecrafts;Beijing Institute of Space Mechanics and Technology
Key Words:six degrees of freedom  transfer and attitude adjustment  pose matrix  omni-directional movement  3-RPS parallel pose adjustment mechanism
Abstract:Aiming to improve the automatic attitude adjustment efficiency and accuracy and long-distance transfer of astronautic camera, a mobile six degrees of freedom attitude adjustment method, based on omni-directional mobile platform and 3-RPS parallel pose adjustment mechanism, was proposed. Firstly, the mathematical model and measurement coordinate system of attitude adjustment were established according to the actual application scenarios. Secondly, the current attitude of the camera and the target attitude were measured, and the attitude matrix of the current attitude relative to the target was derived according to the relationship between the measured actual attitude and the pose of each coordinate system. Thirdly, the motion parameters of each axis of the above mechanisms were inversely solved by the kinematic model. Then the motion model of the omni-directional platform and the parallel mechanism was established to realize the driving of the above motion parameters. Finally, the test verification showed that the attitude adjusting equipment was fast and accurate enough to realize the automatic flexible attitude adjustment of the large-scale camera. The moving accuracy of the omnidirectional mobile platform was within 0.3mm, and the rotating accuracy was within 0.05°, and the rod length accuracy of the parallel mechanism was within 0.5mm.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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