神光-III精密装校平台运动学分析

doi:10.13229/j.cnki.jdxbgxb201705023

摘要/Abstract

摘要： 针对神光-III激光装置光机模块装校需要,设计了一套具有6自由度精密调整功能的混联装校平台。运用解析法建立了模块位姿与各姿态调整机构位姿的映射关系,进而求得系统运动学逆解。利用运动学逆解结果,采用BP神经网络实现驱动位移到模块位姿的非线性映射,从而获得系统运动学正解。为提高运动学正解精度,提出采用“单一输出”细分子网络,使得正解精度提高了一个数量级。为进一步提高位置精度,提出了一种对神经网络进行改进的位置补偿算法,使得位置精度提高至10^-3 mm级,满足工程应用要求。MATLAB仿真验证了该方法的可靠性,并可有效应用于求解一般混联机构的运动学正、逆解。

关键词: 机械设计, 运动学, 神经网络, 位置补偿, 混联机构

Abstract: A 6-DOF hybrid precision assembly platform was designed to assemble the optical and mechanical modules of the huge laser facility SG-III. Based on analytic method, the position and posture mapping relationship between the pose module and pose adjusting mechanism was established, and then the invert kinematics was obtained. By employing BP neural network, the nonlinear mapping model from driving displacements to the pose module positions and postures was built, and the forward kinematics was acquired by training the inverse kinematics samples. In order to improve the accuracy of the forward kinematics, the network was divided into six sub-networks corresponding of each DOF, thus, the accuracy of the solution was increased by one order of magnitude. Finally, position compensation algorithm was proposed to optimize the network. The results demonstrate the displacement accuracy is enhanced to level 10^-3 mm, which meets the requirement of engineering application. The reliability of the proposed methods is validated by simulation in MATLAB software, which can be applied to solve the forward and inverse kinematics of common hybrid robots.

Key words: mechanical design, kinematics, neural network, position compensation, hybrid robot

中图分类号:

TP242

谢志江, 吴小勇, 范乃吉, 郭宗环, 袁岳军, 王康. 神光-III精密装校平台运动学分析[J]. 吉林大学学报(工学版), 2017, 47(5): 1504-1511.

XIE Zhi-jiang, WU Xiao-yong, FAN Nai-ji, GUO Zong-huan, YUAN Yue-jun, WANG Kang. Kinematics analysis of a precision assembly platform of SG-III[J]. 吉林大学学报(工学版), 2017, 47(5): 1504-1511.

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