法兰自动对接空间位姿综合误差建模技术研究

Research on Modeling Technology of Integrated Error of Spatial Position and Orientation of Automatic Butt Joint

以某火箭发动机尾喷口与燃烧室法兰端口自动对接为例,设计TTTRRR六自由度对接机构,结合海克斯康Leicaprobe自动激光跟踪仪获取位姿信息,并求解位姿调整参量。分析六自由度对接机构的X/Y/Z三个平动导轨,A/B/C三个转动轴的制造误差、安装误差、运动误差等共计42项误差,并分别对每个运动单元进行误差运动学分析,通过齐次坐标变换技术对尾喷口法兰位姿建立空间位姿实际与理想空间位姿变换模型,推导空间位姿综合误差模型及尾喷口位姿误差,并通过算例仿真验证方法。

Taking automatic butt joint of tail nozzle of engine and combustion chamber flange for example,moving or rotating the corresponding amount of motion to achieve the docking of the tail nozzle and combustion chamber with the help of TTTRRR six degree of freedom docking mechanism. We get the position information with the Hexagon Leica probe automatic laser tracker,solve the position and orientation adjustment parameters. Analyzing the error sources,such as manufacturing error,installation error,motion error and a total of 42 errors. The integrated error modeling of the actual position and attitude of the tail nozzle flange is carried out by means of homogeneous coordinate transformation. We study the synthesis error matrix of spatial position and attitude as well as the attitude error of tail nozzle. At the same time,the validity of the method is verified by the simulation.