激光聚焦小型三自由度并联机构分析及控制策略研究

	激光聚焦小型三自由度并联机构分析及控制策略研究
其他题名	Comprehensive analysis and control scheme of a 3-DOF parallel manipulator supporting secondary mirror used in laser beam focusing
	王施相
学位类型	硕士
导师	郭劲
	2015-10
学位授予单位	中国科学院大学
学位专业	光学工程
关键词	激光聚焦 3-prs并联机构运动学动力学控制策略联合仿真
摘要	本文以863项目子课题 “XX激光调焦XX”为背景，对用于激光调焦的次镜支撑机械系统——三自由度并联机构——的运动学、动力学及控制策略进行分析。首先，提出了用非压电陶瓷驱动的小型3-PRS结构的并联机器人来支撑次镜的方案，之后对该机构进行三维建模，以传统Z-X-Y欧拉角描述了该机动平台位姿，并利用该机构的闭环矢量式求解获得其运动学正反解方程及受限速度雅克比矩阵。利用多刚体动力学软件ADAMS，应用极限边界搜索算法对该机构的可达工作空间进行了定量分析。结合小型3-PRS机构的特征，定性分析了该机构在工作空间内的奇异性，并通过结构设计给出了消除奇异性的方法，从而为该机构的运动学设计奠定了良好的基础其次，对小型3-PRS机构进行了动力学建模。提出了一种简化假设方法——质量因子，即将连接杆的质量分布到杆的两端。通过在ADAMS中对虚拟模型的仿真和利用虚功原理建立的数学模型对比分析，得出了该结构连接杆的质量分布因子优化解。对丝杠系统及连杆进行了简单的刚度建模，在ADAMS中，对机构进行了固有频率的仿真分析。最后，在运动学分析及动力学分析的基础上，提出了PID控制、计算力/力矩控制及自适应控制方法，通过ADAMS/Control和MATLAB/Simulink联合仿真，对比分析了适合小型3-PRS机构的控制方法，并定量给出了机构的理论控制精度。最后，将该机构应用于实际光路系统，测量了两种控制方案下该机构控制的调焦次镜对聚焦光斑性能的影响。仿真结果充分证明了该机构完全满足支撑激光聚焦次镜结构的设计要求。; With the background of “863” sub-Project “XX LASER BEAM FOCUSING XX”, the paper is about the research and design of the overload 3-DOF parallel mechanism to support the secondary mirror used for laser beam focusing. First, A scheme that designing a mini 3-PRS parallel robot without any piezoelectric ceramic motions and which can realize one translational and two rotational motions to support the secondary mirror, is proposed; build the 3-D model of the 3-PRS parallel mechanism and traditional Euler angle for describing the motion of moving platform is adopted, and based on that, kinematic model of a 3-DOF mini mechanism is built to analysis its direct and inverse kinematics performance including Jacobian matrix generation and solve the problem of accompanying motions. Furthermore, qualitative analysis of singularity and quantitative analysis of the reachable workspace of the mechanism are given by making use of multi-rigid-body system ADAMS. Besides, some methods are given to eliminate singularities by mechanism design. Finally, the synthetically analysis lays the foundation for kinematic design. Second, dynamic model of the mini 3-PRS parallel manipulator was built. The optimal inverse dynamics modeling with principle of virtual work has been derived by introducing a mass distribution factor of link legs and by comparing the forces deviation of simulation result between the mathematic modeling algorithm and the virtual prototype in ADAMS. Furthermore, the stiffness model of the lead-screw system and links system was established and the resonance frequency was analyzed. Finally, based upon the established model, three control systems, including PID control, Force/Torque and passivity-based control have been implemented on the mini 3-PRS parallel manipulator. Then, control accuracy of the robot was obtained by combining ADAMS/Control with MATLAB/Simulink. Moreover, the quality of laser speckle was evaluated by applying the mini 3-PRS robots into an actual optical system The derived results prove that a mini 3-DOF mechanism can fulfill the design requirement of the structure for supporting secondary mirror.
语种	中文
文献类型	学位论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/49275
专题	中科院长春光机所知识产出
推荐引用方式 GB/T 7714	王施相. 激光聚焦小型三自由度并联机构分析及控制策略研究[D]. 中国科学院大学,2015.

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