Research On The Moving Performance Of The Parallel Mechanism Used In The Large Aperture Grating Splicing And Development Of The Control System

As a kind of precise optical components, grating is the core component of variousspectral instruments. The grating used in areas such as astrophysics, laser inertialconfinement fusion and so on has reached the meter scale. Current productiontechnology couldn’t make such large caliber gratings. So it can only be acquired bymeans of joining small grating together to form a large grating to meet the needs ofpractical application. The development of science and technology puts forward higherrequest on the movement accuracy and stability of the grating splicing device. Thispaper devotes to the research on the mechanism theory and control technology of thegrating splicing to improve the movement accuracy and stability fo of the gratingsplicing device.This paper develop three kind of splicing mechanism contraposing the three keyDOF of the moving grating. They are2RPS-S,2RPS-PS/P,4PTSP-PPS. The inversesolution of the three new mechanism and the5PTSP-PPS is studied to obtain themovement control algorithm. The kinematics emulation of these splicing mechanism byestablishing their virtual prototype to verify the DOF and the correctness of the inversesolution. Take the5PTSP-PPS splicing mechanism as an example, this paper discussesthe methods to establish the constraint equations based on vector chain method. Thenthe positive solution of the macro and micro splicing mechanism of the5PTSP-PPSsplicing mechanism. It verifies the correctness of the methods to establish the constraintequations.Based on the positive solution of the5PTSP-PPS splicing mechanism, the errormodel due to the length error of the S-P bar, the error model due to the length error ofthe T-S bar, and the error model due to the macro and micro driver error are established.It analyses the influence of the length error of the T-S bar, the length error of the S-P barand the macro and micro driver error on the moving accuracy of the splicing mechanismseparately.It studies the position and pose monitoring algorithm and does research to theclosed-loop control technology to the5PTSP-PPS splicing device by using themovement control algorithm and the position and pose monitoring algorithm together. Itplanes the control system and write the control software.The movement characteristics of the micro drive module was tested for control ofthe micro splicing mechanism. The moving accuracy and stability were tested and thesplicing experiments were carried out to verify the work performance of the splicing device.