In order to reduce the cost,3-PRS mechanism is introduced into the application of supporting theactive reflector unit of large radio telescope.The kinematic model of 3-PRS mechanism with rotationaljoint errors is deri...In order to reduce the cost,3-PRS mechanism is introduced into the application of supporting theactive reflector unit of large radio telescope.The kinematic model of 3-PRS mechanism with rotationaljoint errors is derived to solve the error problem in actual engineering application.Then based on the errormodel,inverse and forward kinematics are analyzed.Because the solutions can not be analytically ex-pressed,a numerical method is applied.Afterwards,the parasitic motion errors are analyzed using searchmethod and empirical formulas of the maximum parasitic motion error are put forward.Finally,the toler-ance is distributed using empirical formulas to avoid interference between adjacent reflector units.Theanalyses provide a theoretical basis for the design and installation of large radio telescope active reflector.展开更多
To compensate the coning error of Strap-down Inertial Navigation Systems (SINS) under high dynamic angular motion, many rotation vector algorithms have been developed using angle increments information. However, most ...To compensate the coning error of Strap-down Inertial Navigation Systems (SINS) under high dynamic angular motion, many rotation vector algorithms have been developed using angle increments information. However, most SINS use angular rate gyros. Aimed at this problem, 18 algorithms are derived based on analysis of the conventional algorithms, and corresponding coning error expressions are given. At last simulation is made which indicates that the new algorithms have much higher precision.展开更多
Aiming at the assembly accuracy of a large aircraft transport jig, the effect of component error and the error of work-piece surface on the work-piece position and orientation in the 3-2-1 fixturing scheme is studied ...Aiming at the assembly accuracy of a large aircraft transport jig, the effect of component error and the error of work-piece surface on the work-piece position and orientation in the 3-2-1 fixturing scheme is studied with the object pose space description method. The error mapping model between the connecting part of the front frame rack and its support base is modeled using the homogeneous transformation matrix(HTM) method. The probabilistic error is simulated using the Monte Carlo method. The measurement experiment was conducted by the laser tracker to verify the effectiveness of the approach, and the approach has been successfully applied to the production of transport jig.展开更多
基金the National High Technology Research and Development Programme of China(No.2006AA04Z133)the National Natural Science Foundation of China(No.50605035,10778625)
文摘In order to reduce the cost,3-PRS mechanism is introduced into the application of supporting theactive reflector unit of large radio telescope.The kinematic model of 3-PRS mechanism with rotationaljoint errors is derived to solve the error problem in actual engineering application.Then based on the errormodel,inverse and forward kinematics are analyzed.Because the solutions can not be analytically ex-pressed,a numerical method is applied.Afterwards,the parasitic motion errors are analyzed using searchmethod and empirical formulas of the maximum parasitic motion error are put forward.Finally,the toler-ance is distributed using empirical formulas to avoid interference between adjacent reflector units.Theanalyses provide a theoretical basis for the design and installation of large radio telescope active reflector.
文摘To compensate the coning error of Strap-down Inertial Navigation Systems (SINS) under high dynamic angular motion, many rotation vector algorithms have been developed using angle increments information. However, most SINS use angular rate gyros. Aimed at this problem, 18 algorithms are derived based on analysis of the conventional algorithms, and corresponding coning error expressions are given. At last simulation is made which indicates that the new algorithms have much higher precision.
基金Supported by National Key Technology Research and Development Program of China(No.2012BAF01B07)
文摘Aiming at the assembly accuracy of a large aircraft transport jig, the effect of component error and the error of work-piece surface on the work-piece position and orientation in the 3-2-1 fixturing scheme is studied with the object pose space description method. The error mapping model between the connecting part of the front frame rack and its support base is modeled using the homogeneous transformation matrix(HTM) method. The probabilistic error is simulated using the Monte Carlo method. The measurement experiment was conducted by the laser tracker to verify the effectiveness of the approach, and the approach has been successfully applied to the production of transport jig.
