The Research On The Structure Optimization And Position-Attitude Detection System

Silicon micro-machined gyroscope has an extensive application prospects in both military and civilian fields for its advantages such as small size,light weight,low cost and so on.Thus it becomes increasingly attractive all over the world since its arrival.The parallel positioning platform has the features of simple structure,high rigidity,small comprehensive error and complete degree of freedom.It has a wide range of applications in industrial automation,scientific research and aerospace.Due to the complexity of the parallel mechanism model,the strong coupling between the axes,complex measurement of position attitude.Therefore,since the birth of the parallel mechanism has been one of the hottest research at home and abroad scholars.This paper set parallel micro-positioning platform for the development of the project the background,studies the issue of kinematics and dynamics modeling of micro-parallel positioning platform based on Stewart,optimization of model structure parameters and on-line attitude detection technique.The main contents are as follows:This paper,based on Stewart parallel mechanism,established the parallel micro-positioning platform of the kinematic and kinetic parameters model by using the geometric principle of space and the Newton Euler method.And it analyzes the relationship between the rod length and the speed of the support rods in different positions of the positioning platform on account of this model.It provides the theoretical basis for the subsequent structural parameter optimization and position attitude solution.In order to make the design of the positioning platform with better operation and performance,the stiffness calculation model of parallel positioning platform is established according to the its actual needs.This paper takes the platform stiffness and operating space as a optimization goal,the fitness function of the optimization algorithm is established,and the heuristic optimization algorithm is used to optimize the platform structure parameters.In order to measure the position and gesture of six degree of freedom parallel micro positioning platform quickly and accurately,and to verify the positioning accuracy,this paper designs a optical position and attitude detection system based on the multi-pieces two-dimensional photoelectric position sensor by PSD.The mathematical model of six degree of freedom gesture calculation is established based on the theory of geometrical optics,and the simulation of position and attitude is carried out for the typical pose in the operating space.Meanwhile,the theoretical calculation error of the model has been analyzed further.In this paper,considering the parallel micro-positioning platform as its research background,studies the kinematics and dynamics models of the parallel mechanism,which has served as the base for establishing a parallel platform stiffness model.This paper takes the platform stiffness and operating space as a optimization goal,and the heuristic optimization algorithm is used to optimize the platform structure parameters.At the end of the paper,aiming at the online pose detection problem of parallel platform,it advocates a non-contact optical pose detection system based on the multi-pieces two-dimensional photoelectric position sensor by PSD,and analyzes the typical pose simulation calculation and error analysis.The research provides theoretical support for the design and testing of parallel micro-positioning platform.