同步辐射光束线六杆并联机构的运动学正解研究及应用

目前同步辐射光束线六杆并联机构应用广泛,由于六杆并联机构六维调节缺乏理论指导,调节困难,工作效率低。本文从相关物理模型出发,以六杆并联机构的运动学反解为基础,采用信赖域法对非线性超越方程组进行优化,编制相应的MATLAB程序,得到机构的运动学正解。实例应用结果表明,信赖域法是解决运动学正解问题的有效途径,求解程序稳定可靠,运算速度快,误差小,线性精度达10-12mm,转动精度达10-15deg。采用差动螺旋的微动调节方式,就能使单色器箱体姿态的线性调节分辨达5μm,转角分辨达3",完全满足实际工作的要求。

Research and applications of forward kinematics of six-bar parallel mechanism in synchrotron radiation beam-line

Six-bar parallel mechanism is widely used in synchrotron radiation beam-line now. But its six-dimensional adjustment is difficult and inefficient because of lacking theoretical direction. Based on the inverse kinematics, forward kinematics of six-bar parallel mechanism is obtained by trust region method for nonlinear optimization. The corresponding program with MATLAB language is also given. The result shows that trust region method is an effective way to study forward kinematics, and the program is stable, reliable and fast. This method has small errors with linear precision of 10-12mm and rotational precision of 10-15deg. Using differential snail adjustment, monochromator box’s attitude can reach a linear resolution of 5μm and a rotational resolution of 3". It completely satisfies the practical requirements.