An Inverse Kinematic Analysis Modeling on a 6-PSS Compliant Parallel Platform for Optoelectronic Packaging

Multiple degree of freedom motion platform is always one of the important components in optoelectronic packaging systems,its characteristics have a vital impact on the performances of optoelectronic packaging.This paper presents a 6-Prismatic-Spherical-Spherical compliant parallel platform for optoelectronic packaging.This platform is a kind of parallel layout structure,which uses the piezoelectric motors as active joints and the large-stroke flexure hinges are employed as passive joints.An inverse kinematic modeling based on elastokinematic analysis is analyzed and deduced.The elastokinematic analysis considers the elastic deformation of the large-stroke flexure hinges in movement process,and improves the positioning accuracy of the compliant parallel platform in applications.The finite element analysis model and the prototype of the compliant parallel platform are developed,and the validity of the proposed method is finally verified.This paper provides a theoretical reference and experimental data for the inverse kinematic analysis of six degrees of freedom motion compliant parallel platforms with large-stroke flexure hinges.

Cross-coupling integral adaptive robust posture control of a pneumatic parallel platform

A pneumatic parallel platform driven by an air cylinder and three circumambient pneumatic muscles was considered. Firstly, a mathematical model of the pneumatic servo system was developed for the MIMO nonlinear model-based controller designed. The pneumatic muscles were controlled by three proportional position valves, and the air cylinder was controlled by a proportional pressure valve. As the forward kinematics of this structure had no analytical solution, the control strategy should be designed in joint space. A cross-coupling integral adaptive robust controller(CCIARC) which combined cross-coupling control strategy and traditional adaptive robust control(ARC) theory was developed by back-stepping method to accomplish trajectory tracking control of the parallel platform. The cross-coupling part of the controller stabilized the length error in joint space as well as the synchronization error, and the adaptive robust control part attenuated the adverse effects of modelling error and disturbance. The force character of the pneumatic muscles was difficult to model precisely, so the on-line recursive least square estimation(RLSE) method was employed to modify the model compensation. The projector mapping method was used to condition the RLSE algorithm to bound the parameters estimated. An integral feedback part was added to the traditional robust function to reduce the negative influence of the slow time-varying characteristic of pneumatic muscles and enhance the ability of trajectory tracking. The stability of the controller designed was proved through Laypunov's theory. Various contrast controllers were designed to testify the newly designed components of the CCIARC. Extensive experiments were conducted to illustrate the performance of the controller.

STRUCTURAL PARAMETERS CALIBRATION BY POSTURE MEASUREMENT ON PARALLEL 6-DOF PLATFORM

Some approaches to measure parallel 6-degree of freedom platform's posturestatically and to calibrate the platform's actual structural parameters by measuring a series of theplatform's varying postures are studied. In the case where high posture accuracy is requiredrelatively, to obtain the platform's actual structural parameters is very important. Threedimensions measurement with 2 theodolites are used to obtain the platform's postures statically andNewton iterative method is adopted to calibrate structural parameters. Some measures taken in themeasurement and the calibration are discussed in detail. And the experiment results of theplatform's posture control before and after the calibration are given. The results show that theplatform's posture control accuracy after the calibration is improved notably.

CONCISE SOLUTION OF FORWARD KINEMATICS ANALYSIS OF PARALLEL MECHANISM IN 6-SPS SIMILAR PLATFORM

The forward kinematics analysis of a special 6-SPS Stewart platform is presented, in which both the base and the mobile platforms are hexagon and similar to each other. The forward kinematics of the parallel mechanism is a complicated nonlinear problem, however. there exists a class of parallel kinematics platforms that have the simplest forward kinematics. By introducing quaternion to represent the rotary transformation matrix and applying dual space method to eliminate the high degree polynomials, the forward kinematics can be expressed by a set of quadratic algebra equations, which decouple the position and the orientation of the mobile platform. The approach only requires solving one-variable quadratic equations. Besides, spurious complex roots are automatically avoided. Eight possible solutions are obtained from the approach. It discovers the inner symmetry relationship between the solutions of the forward kinematics.

Orientation density and workspace analysis of a parallel stabilized platform testing system

An optimized workspace calculation method is proposed for parallel stabilized platform testing systems.This method refines the searched space progressively in order to approach the boundary of the workspace from both the inside and the outside of it.The orientation density is defined and used as an evaluation index to calculate the orientation workspace.The algorithm of the orientation density is embedded into the computer program of the workspace calculation.Then the workspaces of the testing system are solved.In the solution,the orientation density is regarded as a discrete function of the reachable workspace.As a result,the reachable workspace and the orientation workspace are represented in the same multidimensional graphs.Finally the useful workspace of the testing system is determined based on these results.This case study indicates that the calculation efficiency is enhanced by adopting the optimized method and the practicability of workspace study is improved by proposing the orientation density.

NOVEL 6-SPS PARALLEL 3-DIMENSIONAL PLATFORM MANIPULATOR AND ITS FORCE/MOTION TRANSMISSION ANALYSIS

The unique design for a novel 6-SPS parallel 3-dimensional platformmanipulator with an orthogonal configuration is investigated. The layout feature of the parallelmanipulator is described. Its force/motion transmission capability, evaluation criteria arepresented. At the orthogonal configuration, the criteria and the relationships between the criteriaand the link lengths are analyzed, which is important since it can provide designer a piece ofvaluable information about how to choose the linear actuators. From the analysis of the results itis shown that the force/motion transmission capabilities of the parallel manipulator arecharacterized by isotropy at the orthogonal configuration. The manipulator is particularly suitablefor certain applications in 6-DOF micromanipulators and 6-axis force/moment transducers.

六自由度并联平台惯性参数辨识方法

惯性参数辨识对多自由度并联机构动力学控制至关重要,而传统的辨识方法存在操作复杂、精度差等问题。现提出一种基于动力学分析的六自由度并联平台惯性参数辨识方法。该方法以伺服电机的驱动电流为基础,采用Kane法对并联机构进行动力学分析,建立电流、转矩和推力之间的传递函数,在此基础上构建激励力与平台位姿的辨识方程,即可求解并联平台的惯性参数。基于MATLAB与ADAMS的六自由度并联平台参数辨识仿真分析结果表明,质量与转动惯量辨识误差分别小于2%与7%。与解体测量法和CAD法相比,本方法具有更快的辨识速度与更高的辨识精度,为并联平台动力学控制打下基础。

电液3-UPS/S并联稳定平台参数振动特性分析

针对电液3-UPS/S并联稳定平台驱动液压缸的压力脉动所产生的参数振动,建立了稳定平台的参数振动方程并利用多尺度法求解了主共振响应与组合共振响应的一次近似解;分析了主共振与组合共振响应特性以及振动幅值在初始工作空间内的变化规律,最后采用四阶龙格库塔法与模态试验对参数振动模型进行验证。结果表明:数值解与理论解之间的最大误差为4.20%,固有频率理论值与试验值之间的最大误差为4.66%,可验证参数振动模型的正确性。

3UPU-UP并联平台可操作性与工作空间分析

6支链并联平台存在着复杂的位置约束,并且当控制算法失效时对机械结构容易造成损坏,因此,针对一种3UPU-UP并联平台对其进行运动学可操作性与工作空间分析。首先通过矢量法与运动学的分析,得出了3UPU-UP并联平台运动学模型,以此为基础,首次将串联机械臂可操作度的评价指标与3UPU-UP并联平台的机构结构特性相结合,对3UPU-UP并联平台的可操作度进行了计算、分析和可视化处理;并将蒙特卡洛法与正运动学相结合对并联平台的工作空间进行了计算、分析和可视化处理。能够更加直观、完整表述并联平台的可操作度和工作空间。研究成果为3UPU-UP并联平台的设计提供了理论依据并证实其理论上的可行性。

Stewart平台神经网络非奇异终端滑模控制

针对Stewart平台的六自由度(six degrees of freedom,6-DOF)轨迹跟踪问题,提出一种基于神经网络的非奇异终端滑模控制方法并应用于Stewart平台的位置姿态控制中。通过分析Stewart平台的位置反解和速度反解,建立运动学方程,利用牛顿-欧拉方程建立动力学方程,并结合加速度反解得到了平台的状态空间表达式;基于非奇异滑模面函数,设计非奇异终端滑模控制律。考虑到径向基函数(radial Basis function,RBF)神经网络的逼近特性,采用RBF神经网络对模型未知部分进行自适应逼近,并利用Lyapunov第二法设计了自适应律;通过仿真证明控制器设计的有效性。仿真结果表明,相比于比例积分微分(proportional integral derivative,PID)控制器,提出的RBF神经网络非奇异终端滑模控制器具有更好的轨迹跟踪精度和动态特性。

S-RPS-SPS并联机构稳定平台的运动学分析

舰船在海上会受到海浪、海风以及气流等环境影响,从而导致原本需要在稳定环境下工作的器材受到严重干扰,如起吊平台、雷达信号捕捉等。针对以上问题,提出了S-RPS-SPS并联机构稳定平台,该平台可以实现绕X轴横滚角的旋转以及绕Y轴俯仰角的旋转,从而间接消除船体在这两轴上的转动。在SolidWorks软件中建立该并联机构的模型并验证了自由度;选择位姿逆解的方法计算出两条驱动杆长度与动平台位姿角度之间的关系式,在该机构的动平台旋转角度和驱动杆伸缩长度范围内输入不同的角度,得到两组数据,对比了其误差;把计算公式、旋转角度范围以及坐标在Matlab软件中通过算法进行仿真,验证了动平台位姿的准确性。仿真结果表明,该机构在运动学方面的精度和可靠性都得到了很好的保证。

基于4-PSE并联机构的地质沉积模拟平台运动学分析

地质沉积模拟平台是定量研究地质沉积理论的重要装置。为满足沉积模拟大型化、精细化和定量化的研究需求,基于4-PSE并联机构设计一种可进行全方位调姿运动的地质沉积模拟平台,对其运动学特性进行研究。结合模拟平台的工作原理,对4-PSE并联机构的自由度进行计算,推导模拟平台的运动学方程。在ADAMS软件中建立模拟平台的虚拟样机模型,利用运动学仿真结果对其运动学参数进行理论验证。分析模拟平台的工作空间约束条件,求得其工作空间,绘制相关结构参数对工作空间的影响曲线。研究成果为后续地质沉积模拟平台的多块平台组合系统实验提供了理论基础。

面向国产异构DCU平台的大规模并行矩量法研究

面向国产异构众核处理器超级计算机发展趋势,实现了基于CPU+DCU国产异构并行系统的大规模并行高阶矩量法。在同构并行矩量法负载均衡策略的基础上,提出了一种“MPI+openMP+DCU”的高效异构并行编程框架,解决了计算任务与计算能力不匹配的问题,实现了矩量法异构并行计算过程的负载均衡。采用细粒度任务划分策略与异步通信技术,对深度计算处理器计算过程进行了流水线优化设计,实现了计算与通信重叠,提升了矩量法异构协同计算的效率。通过与有限元法的仿真结果对比,验证了CPU+DCU异构并行矩量法的准确性。基于国产深度计算处理器异构平台的可扩展性分析结果表明,与单纯CPU计算相比,所实现的CPU+DCU异构协同计算方法能够获得5.5~7.0倍的加速效果,且在国家超级计算西安中心能够实现全系统运行,并行规模从360节点扩展到3 600节点(共1 036 800个处理器核心),并行效率可以达到约73.5%。

六自由度Stewart并联平台的参数优化及公差分配

并联机器人的基础设计工作主要涉及两个方面:基本参数设计与公差分配。从机器人可达工作空间进行了推广,引申出广义的可达工作空间,将机器人姿态与位置同时考虑。以广义可达工作空间为优化目标,对6-SPS型Stewart平台进行基本参数的优化,通过粒子群算法(PSO)获得了一组具有更大的位置,姿态可达空间的并联机器人参数。另外,以更低的机器人制造成本为目标,在尺寸公差与形位公差满足机器人设计目标的约束下,对各基本尺寸的公差进行优化分配。通过分析尺寸公差与形位公差对末端精度的影响,建立了大概的公差-精度关系模型。

水下平台中继供电变换技术研究

本文研究了水下平台有缆中继供电模式下的电能变换技术,水面平台交流电能经脐带缆传输至水下平台,通过本文提出的二极管不控整流+四路交错Buck拓扑将波动交流电变换为稳定直流电供给负载,大大提升了水下平台的续航能力和作业效率。分析了该电路的运行原理,最后搭建了一台功率80 kW的电路仿真模型,并在100%负载、50%负载和25%负载工况下进行了仿真,结果显示在各工况下有能效减少纹波,多路交错并联Buck变换器各功率器件应力小,电感设计简单,热设计良好,在大功率应用场合优势非常明显。

面向FT-M6678的对称矩阵特征值求解算法实现与优化

目前国产自主可控FT-M6678平台上没有对称矩阵特征值求解相关的实现,且平台上现有数学计算库不能很好地满足类似问题求解的需求。面向国产FT-M6678处理器,对对称矩阵特征值求解(SYEV)算法进行实现与优化,完善FT-M6678平台的线性代数计算库。通过对SYEV算法的实现过程以及运行热点的分析,基于FT-M6678平台进行编译优化、访存优化以及向量并行化优化,其中:编译优化是根据不同的编译选项指导编译器对程序优化以达到加速效果;访存优化包括缓存优化以及数据段与程序段的分配优化,用于提高矩阵数据的访存效率;向量并行化优化包括循环展开以及适配FT-M6678平台的单指令多数据流(SIMD)指令并行优化,用于提升程序的计算效率。在FT-M6678平台上对所实现并优化的算法进行正确性验证与优化性能分析,结果表明,算法能够正确通过LAPACK官方测试集测试,并且在FT-M6678平台上的加速效果可达到58.346倍,对比TMS320C6678平台速度可提升2.053倍。

基于对偶四元数法的Stewart平台运动学研究

作为一种多自由度并联机构,Stewart平台在工业自动化、飞行模拟及医疗设备等领域具有广阔应用前景。研究Stewart平台的运动学特性,并提供数学模型和解决方法,可以实现对其运动和位置的准确控制。基于6-UPS型Stewart并联机器人平台,引入了对偶四元数的概念,探讨了Stewart平台的运动学特性,提出了一种高效的并联机器人运动学求解算法。研究结果表明,在描述并联机器人的运动学中,对偶四元数法具有更简洁的表示形式和更少的用来表示刚体位姿的未知数个数,具有明显优势。

海空集群对抗深度强化学习算法研究平台设计

针对当前海空集群对抗智能指挥控制决策研究缺乏有效的算法研究平台的问题,设计了深度强化学习算法研究平台。首先分析了应用需求,其次对平台组成、硬件架构进行了设计描述,最后针对想定设计、算法训练和算法评价进行了子流程设计。平台设计采用仿真内核和显示模块分离、并行与分布式运行的模式,支持深度强化学习算法的快速训练和决策控制效果的验证评价,避免直接进行海空装备实物实验耗费大量时间和面临未知风险,有效提高了算法研发效率。

非均匀个性化网络资源的深度并行推荐仿真

在网络资源深度推荐时,若不能及时对网络资源数据内部不完整数据展开有效清洗,会直接影响网络资源的推荐效果。因此,提出非均匀个性化网络资源深度并行推荐算法。通过获取网络资源数据,使用野值识别方法有效去除数据中的不完整数据;并对网络资源数据实施标准化处理,确定完整的网络资源数据集合;根据确定的网络资源数据计算用户直接相似度,建立用户网络图;通过对其游走确定用户间接相似度,重构用户相似度矩阵,确定推荐列表,完成算法设计。使用Spark并行计算平台辅助设计的推荐算法,确定算法实现流程,完成非均匀个性化网络资源深度并行推荐。实验结果表明,所提方法开展网络资源并行推荐时,平均绝对误差和均方根误差小,表明其推荐效果好。