低重力补偿与测试系统的设计与分析
文献类型：学位论文
| 作者 | 杨毅 |
| 学位类别 | 硕士 |
| 答辩日期 | 2017-05-24 |
| 授予单位 | 中国科学院沈阳自动化研究所 |
| 授予地点 | 沈阳 |
| 导师 | 常勇 |
| 关键词 | 空间机械臂 低重力补偿 吊丝配重 误差分析 ADAMS吊丝仿真 |
| 其他题名 | Design and Analysis of Low Gravity Compensation and Testing System |
| 学位专业 | 机械电子工程 |
| 中文摘要 | 本文设计了一种低重力补偿与测试系统，对2-DOF全景相机转台进行重力补偿，完成全景相机转台低重力环境下的力学性能测试。针对全景相机转台结构特点，选择了吊丝配重方式进行重力补偿。本文主要围绕全景相机转台低重力补偿方法、结构设计、误差分析和实验测试进行研究。具体内容为： 根据2-DOF全景相机转台尺寸小、质量小，重力补偿精度要求相对较高的特点，本文从一般结构的吊丝配重方法进行推导，以重力补偿各影响因素加权值之和为依据，最终设计了两套吊丝配重系统：转台方位臂采用吊丝配重法，转台俯仰臂采用平行四边形结构的吊丝配重法。然后分析了两种吊丝系统的特点，并通过理论推导和ADAMS仿真证明了平行四边形结构特点：吊丝始终竖直、配重块竖直无位移、吊丝与滑轮无相对移动。 按照设计的低重力补偿方案，进行了详细的结构设计。低重力补偿装置由全景相机转台、补偿操作臂和吊丝配重系统组成。对低重力补偿装置进行了运动学建模，满足重力补偿精度需要各关节同步运动和增加吊丝有效长度。通过对低重力补偿装置整体静力学分析校核了装置整体强度。分别进行了1g条件下低重力补偿装置和1/6g条件下全景相机转台的ADAMS仿真实验，通过对比实验结果，验证了转台低重力补偿方案的有效性。 为了提高全景相机转台低重力补偿精度，本文对影响系统低重力模拟的因素进行了研究分析。分析了低重力补偿装置误差因素，并对形位公差、安装误差、尺寸误差、关节同步误差和质心误差进行了详细分析，给出了各误差因素对重力补偿精度及转矩补偿精度的表达式。 最后对低重力补偿与测试系统进行了实验研究分析。介绍了机械系统与控制系统、低重力补偿装置“零点”标定方法和实验步骤，进行低重力补偿与测试系统实验，获取实验数据。实验数据分析表明：全景相机转台低重力补偿与测试系统能够较好的在地面模拟相机转台低重力环境，同时验证了补偿方法的有效性。 |
| 英文摘要 | In this paper, a low-gravity compensation and test system is designed to compensate the 2-DOF panoramic camera turntable to complete the mechanical performance test of the panoramic camera turntable under low gravity environment. Aiming at the structural characteristics of the panoramic camera turntable, the gravity compensation method was selected. Mainly focuses on the low gravity compensation method, structural design, error analysis and experimental test of the panoramic camera turntable. The specific content is: According to the characteristics of 2-DOF panoramic camera turntable with small size, small quality and high precision of gravity compensation, this paper derives from the general structure of the suspension system, based on the sum of the weighting factors of gravity compensation, design of two sets of suspension system: azimuth arm with suspension system, pitch arm with parallelogram structure of the suspension system. Then, the characteristics of the two kinds of hanging wire system are analyzed, and the characteristics of the parallelogram are proved by theoretical derivation and ADAMS simulation. The hanging wire is always vertical and the counterweight is not displaced vertically, and the hanging wire and the pulley are not moved relative to each other. In accordance with the design of the low gravity compensation program, a detailed structural design. Low gravity compensation device consists of panoramic camera turntable, compensation arm and hanging wire weight system. The low gravity compensation device is kinematical modeled to meet the gravity compensation accuracy of the joint need to synchronize the movement and increase the effective length of hanging wire. The overall strength of the device was verified by the overall static analysis of the low gravity compensator. Respectively, under the conditions of 1g under low gravity compensation device and 1/6g under the conditions of the panoramic camera turntable ADAMS simulation experiments, by comparing the experimental results, the validity of the low gravity compensation scheme is verified. In order to improve the accuracy of the low gravity compensation of the panoramic camera turntable, this paper analyzes the factors that affect the low gravity simulation of the system. The error factors of low gravity compensation device are analyzed, and the geometric tolerance, installation error, size error, joint synchronization error and centroid error are analyzed in detail. The expressions of the error compensation factors and the accuracy of torque compensation are given. Finally, the low gravity compensation and test system is experimentally studied. Introduced the mechanical system and the control system, low gravity compensation device "zero" calibration method and experimental steps, a low-gravity compensation and test system experiment was carried out to obtain experimental data. The experimental data show that the low gravity compensation and testing system of the panoramic camera turntable can simulate the low gravity environment of the camera turntable on the ground, and verify the effectiveness of the compensation method. |
| 语种 | 中文 |
| 产权排序 | 1 |
| 源URL | [http://ir.sia.cn/handle/173321/20530]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 推荐引用方式 GB/T 7714 | 杨毅. 低重力补偿与测试系统的设计与分析[D]. 沈阳. 中国科学院沈阳自动化研究所. 2017. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。