Research Of Six-DOF Precision Installation Platform Based On Hybrid Institution

There is a large number of large aperture optical modules located in the optical pathdirection of a large laser device.These modules are named for the bottom modules. Thebottom modules are required to be installed with a specialized precision mechanicaldevice because the bottom modules which have features such as multi-types, largequantity,precision manufacturing, heavy weight and expensive.The core part of theprecision mechanical device is a six degrees of freedom adjustment platform which isable to adjust the bottom modules for high-precision position.A series and parallelinstitutions meeted the practical requirements—A hybrid6-DOF precision installationplatform is put forward.First,attaining the input-output relationship of the institutionaccording to the analysis of the kinematics.Second,deriving the error model of theinstitution and made an error analysis in order to provide a theoretical basis for theprecision design.Finally,to achieve precision output of the six degrees of freedom of theplatform and accomplish installation of the bottom optical module in the situation ofsecurity, reliability and precision.The main work of this paper:Firstly,according to the optical modules installation processes, installation environ-ment and design requirements,proposed the total design of the precision installationplatform，including the levleveling mechanism and the plane docking mechanism.Thetwo institutions are all parallel institutions andachieve the different work.The consititut-ions of the two is analysised.Secondly,associated constraint equations are builded using the space vector meth-od.The inverse kinematics and position forward solution of the leveling mechanism andthe plane docking mechanism is analysised.Their speeds forward and inverse solutionresults are attained based on the derivative of their respective the inverse kinematics.Thirdly,the error models whose correctness are verified of the leveling mechanismand the plane docking mechanism are builded with the matrix method after analysisingthe source of errors，impact of the error sources about workbench comparative analysi-sed using error models and provides a theoretical basis for the precision design and err-or compensation.Finally, according to institutional error, an online direct compensation method forerror compensation is executed,6-DOF auto leveling and automatic plane dockingfunction.of the6DOF institution are accomplished according to the sensor feedback data.