摘要
ORU装校设备是用于将光学元件安装在大型激光装置上的专用设备。针对因大型激光装置内部对操作人员来说是盲区所带来的干涉、碰撞等主要问题,提出在ORU装校设备上新增六维力和力矩传感器的改进设计方案,阐述构建思路,建立了动力学模型并加以分析。在装校设备样机上进行干涉试验,得到力及位姿曲线,对改进设计方案进行验证。试验结果表明,ORU装校设备的改进设计方案是可行的,解决了样机中存在的主要问题,提高了装校设备的自动化程度,达到了柔性装校的目的。
The ORU installation and alignment equipment is a special device which is used to install the optics components on the large-scale laser device. Because the inside of the large-scale laser device is invisible for the operator, the problems such as interfer-ence and collision have been caused. Aiming at these major prob-lems, an improved scheme to add a 6-DOF F/T sensor was pro- posed, the establishment idea was demonstrated and the dynamic model was built and analyzed. The interference test was carried out on the prototype to validate the improved design with the curves of force and displacement-pose. The result of the test indicates that the improved design of ORU installation equipment is feasible with the resolving of the main problems existed in the prototype. The level of automation was improved with the purpose of flexible instal-lation approved.
出处
《机械设计》
CSCD
北大核心
2012年第7期16-19,共4页
Journal of Machine Design
基金
"十五"国家重大科技专项基金资助项目(RCLF-GL-HT-T01.2(2005)110)
关键词
大型激光装置
六维力和力矩传感器
动力学模型
柔性装校
large-scale laser device
6-DOF F/T sensor
dy,namic model
flexible installation and calibration
