| 65m射电望远镜天线副面调整机构标定研究 |
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| 引用本文： | 侯雨雷,段艳宾,窦玉超,姚建涛,金超,李建军,赵永生.65m射电望远镜天线副面调整机构标定研究[J].中国机械工程,2013,24(24):3318. |
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| 作者姓名： | 侯雨雷 段艳宾 窦玉超 姚建涛 金超 李建军 赵永生 |
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| 作者单位： | 1.燕山大学河北省并联机器人与机电系统实验室,秦皇岛,066004
2.中国电子科技集团第五十四研究所,石家庄,050081 |
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| 基金项目： | 中国科学院和上海市政府重大合作项目 |
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| 摘 要： | 结合65m天线副反射面位姿调整任务要求,研究天线副反射面调整机构的标定问题。制定出副面调整机构标定流程与方案,利用激光跟踪仪测量机构动平台位姿,根据运动参数的实测信息,由并联机构学理论构造误差函数,并以误差函数最小化为目标进行机构运动学参数辨识;开发完成标定算法,对副面调整机构进行运动学标定，求解获得满足预期精度要求的结构参数，并对机构参数进行补偿。面向工程实际任务开展标定研究，研究结果对并联机构真正应用于工程实践具有重要的指导意义。
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| 关 键 词： | 65m射电望远镜 天线副反射面 并联机构 位姿调整 标定 |
Calibration of Adjusting Mechanism for Subreflector of a 65 Meters Radio Telescope |
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| Hou Yulei,Duan Yanbin,Dou Yuchao,Yao Jiantao,Jin Chao,Li Jianjun,Zhao Yong.Calibration of Adjusting Mechanism for Subreflector of a 65 Meters Radio Telescope[J].China Mechanical Engineering,2013,24(24):3318. |
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| Authors: | Hou Yulei Duan Yanbin Dou Yuchao Yao Jiantao Jin Chao Li Jianjun Zhao Yong |
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| Affiliation: | 1.Hebei Provincial Key Laboratory of Parallel Robot and Mechatronics System,Yanshan University,Qinhuangdao,Hebei,066004
2.The 54th Research Institute of CETC,Shijiazhuang,Hebei,050081 |
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| Abstract: | Based on the pose adjusting requirements, the calibration of a subreflector of antenna was performed herein. The process and scheme of the calibration of adjusting mechanism of the subreflector were identified firstly. The pose of the moving platform was measured using laser tracker, and according to the actual information of the motion parameters, the error function was constructed by the parallel mechanism theory. Then the kinematics parameters of the adjusting mechanism were identified by minimizing the error function. A calibration algorithm was developed and the calibration of the adjusting mechanism was performed. The structural parameters satisfied to the expected accuracy requirements were solved and the mechanism parameters were compensated. The research fruits herein have important guiding significance for the applications of the parallel mechanism in real engineering practice. |
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| Keywords: | 65 meters radio telescope subreflector of antenna parallel mechanism pose adjusting calibration |
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