基于六自由度并联机构的轨道板精调系统定位算法

Positioning algorithm of track slab fine adjustment system based on 6-DOF parallel mechanism

针对客运专线CRTSⅡ型轨道板的定位精度要求,提出采用六自由度并联机构作为铺设轨道板的定位机构,构造了相应的轨道板定位算法.依据全站仪对板上棱镜位置的测量结果,通过矩阵分析的方法辨识出精调系统车体坐标系和轨道板坐标系,再根据轨道板的目标位置,计算并联机构的调整量并实现一次性精确定位.试验结果表明:采用此方法轨道板的定位误差能够不大于0.3mm,满足了施工技术要求.

Aiming at the positioning accuracy requirement of CRTSⅡ track slabs applied to the passenger dedicated line, a 6-DOF parallel mechanism is proposed as the positioning mechanism in the track slab fine adjustment system （TSFS）, and the corresponding positioning algorithm is presented. After getting coordinates of prisms on slab measured by a total station, the base coordinate system of the parallel mechanism and the slab＇s body coordinate system can be identified by solving residual equations. According to the target location of a track slab, the parallel mechanism＇s target configuration is calculated and the slab can be positioned accurately by adjusting only once. Experiments show that positioning errors of track slabs are not more than 0.3 mm, which is required in slab track constructing.