在线可更换模块（LRU）调平与对接关键技术研究
文献类型：学位论文
| 作者 | 王世魏 |
| 文献子类 | 硕士 |
| 导师 | 刘志刚 |
| 关键词 | 混联机构 Hybrid mechanism 调平与对接 Leveling and docking 同时建图与定位 SLAM 二维码定位 Positioning by Qr-code |
| 其他题名 | Research on Line-Replaceable Unit leveling and docking key technology |
| 英文摘要 | 大型激光装置如美国劳伦斯·利弗莫尔国家实验室的NIF装置，所需的光学元件种类繁多且数量庞大，为保证光学元件在集成过程中获得严格的姿态精度、稳定性以及洁净要求，装置在设计时采用模块化设计思想，即将光学元件与机械构件组合成在线可替换单元（Line-Replaceable Units，简称LRU模块），从而满足不同规格元件的功能需求，同时根据模块在整体激光装置的位置，采用下装（模块由下而上安装）、上装以及侧装等方式来实现模块的安装与维护。因此实现LRU模块的稳定高效精密安装是大型激光装置提高安装集成精度、缩短更换维护时间，提高集成运行效率的重要保证。 大型激光装置中LRU模块种类众多，但在安装更换过程中必须要求实现LRU模块与对接目标之间的空间位置和姿态关系，因此LRU模块安装过程中的精密定位和对接姿态调整是亟待解决的重要课题。本文围绕LRU模块在安装更换过程中的对接姿态调整问题，综合分析了安装过程中的负载、行程、自由度、安装方式以及安装精度，提出了基于混联的调平对接机构，并通过螺旋理论对机构的自由度进行计算，验证机构的可行性；利用空间矢量法构建关联约束方程，求解得到机构反解的解析解和正解的数值解，并在此基础上建立了混联机构末端执行器的动力学模型和反馈调节控制系统，通过仿真验证了动力学模型的正确性以及控制系统的实时性。围绕LRU模块在安装更换过程中的精密定位问题，设计了以机器视觉为基础的非接触式传感测量模块，完成了对接行程的实时测量与定位，避免传统接触式测量在大行程对接过程中因积累误差造成的碰撞，同时视觉测量精度满足LRU模块调平对接要求。 本研究中主要创新点如下：一是提出了平移和旋转完全解耦的混联六自由度调平对接机构，设计了相应的控制系统，仿真实现了混联机构平移精度达到1mm以下、旋转精度1mrad以下的实时调整；二是设计了二维码定位和同时建图与定位（simultaneous localization and mapping，简称SLAM）融合的视觉定位测量算法，提供大行程对接过程中厘米量级的实时粗定位信息和达到0.5mm及以下平移、0.5mrad及以下旋转的对接调平精定位的分级测量信息。; Large laser devices such as the National Ignition Facility of Lawrence Livermore National Laboratory in American, The optical elements required are varied and large. In order to ensure the precision, stability and cleanliness requirements of optical elements in the integration process, modular design is adopted in the design. The optical element and the mechanical component are combined into line-replaceable units according to the different functional specifications of the components and maintenance characteristics. At the same time, the Laser Bay Bottom Loading, the Laser Bay Top Loading and the Laser Bay Side Loading are required according to the module in the overall laser device location. Therefore, the stability, high efficiency and precision installation of LRU is the important guarantee for improving the installation integration accuracy, shortening the maintenance time and improving the efficiency of integration. Types of LRU in the large laser device is numerous, but in the process of installation and replacement must demand achieve LRU and docking between the spatial position and posture of relationship, so the LRU installed in the process of precision positioning and docking posture adjustment is an important subject to be solved. This paper focuses on the adjustment of the docking attitude of LRU during the installation and replacement. The load, travel, freedom, installation and precision are analyzed, putting forward a leveling and docking mechanism based on hybrid mechanism. And the degree of freedom of the mechanism is calculated by the spiral theory to verify the feasibility of the mechanism，the six-degree-of-freedom precision installation of the large trip is realized. Associated constraint equations are built using the space vector method, the analytical solution of inverse problem and numerical solution of positive solution are calculated. Then the dynamic model and feedback control system of the end-effector of the hybrid mechanism are established, the correctness of the dynamic model and the real-time performance of the control system are verified by simulation. Finally, the non-contact sensor measurement module based on machine vision is designed to eliminate the vibration and stress caused by traditional contact measurement. The sensor measurement module has completed the real-time measurement and positioning of the docking schedule to avoid the collision caused by accumulated errors during the large trip. And the accuracy of visual measurement meets the installation requirement of LRU. The main innovation points in this study: in this paper, putting forward a 6-dof hybrid mechanism which translation and rotation are fully decoupled, the corresponding control system is designed. Realizing real-time adjustment of hybrid mechanism, the translation accuracy is below 1mm and the rotation accuracy is below 1mrad. A visual positioning algorithm based on Qr-code positioning and SLAM is designed, to realize the real-time positioning of the centimeter-scale in the process of large trip. Providing measurement information of translation below 0.5mm and rotation below 0.5mrad. |
| 学科主题 | 光学工程 |
| 源URL | [http://ir.siom.ac.cn/handle/181231/31078]  |
| 专题 | 中国科学院上海光学精密机械研究所 |
| 作者单位 | 中国科学院上海光学精密机械研究所 |
| 推荐引用方式 GB/T 7714 | 王世魏. 在线可更换模块（LRU）调平与对接关键技术研究[D]. |
入库方式： OAI收割
来源：上海光学精密机械研究所
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