移动并联式六自由度转运调姿方法研究

Six Degrees of Freedom Transfer and Attitude Adjustment Method of Mobile Parallel

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3RPS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0.3 mm,旋转精度优于0.05°,并联机构杆长精度优于0.5 mm,验证了自动调姿的准确性。

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 3RPS 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 0.3 mm,and the rotating accuracy was within 0.05°,and the rod length accuracy of the parallel mechanism was within 0.5 mm.