Research On The 6-DOF Hybrid Calibration Platform For Physical Diagnostic Equipment

With the continuous improvement of human science and technology,countries began to carry out research on controllable nuclear fusion experiment.China is also at the forefront of fusion research.In a large laser fusion facility in China,the physical diagnostic equipment needs to be precisely calibrated.To meet the requirements of installation,this paper designed a kind of six degrees of freedom platform,it has the advantages of series platform and parallel platform,with high precision,high stiffness,quick response and the advantage such as bearing capacity is strong,with two three degrees of freedom adjustment platform(3-UPU adjustment platform and 4-PPR adjustment platform)in series.The main contents of this paper are as follows:Based on the process of installing physical diagnostic equipment and technical index analysis,put forward a kind of changed from horizontal 3-UPU platform and 4-PPR plane adjustment series of new space of six degrees of freedom mixed adjustment platform,respectively expounds the horizontal adjustment platform and plane adjustment principle,and using the screw theory as the research method of degree of freedom analysis,provide the basis for kinematics analysis.Based on the theory of coordinate transformation,the inverse solution of horizontal adjustment platform and plane adjustment platform is solved by analytical method.By means of Adams simulation software,kinematics simulation was carried out on the two adjustment platforms respectively,and input curves of displacement,velocity and acceleration of the driving components were obtained.Based on the inverse kinematics solution,the input curves were obtained through Matlab software programming,and the correctness of the inverse kinematics analysis was verified by comparing the curves of the two methods.According to the constraint conditions of the horizontal adjustment platform and the plane adjustment platform,the reachable space constraint inequality of the structural parameters was established.The accessible workspace maps with different degrees of freedom were drawn.By discretizing the structural parameters of the adjustment platform,the relationship between the structural parameters and the volume of the working space is analyzed,which provides a theoretical basis for the optimization of the structural parameters of the horizontal adjustment platform and the plane adjustment platform.Based on the inverse kinematics solution,the jacobian matrix of two adjustable platforms is obtained by differential method.Flexibility to adjust the platform is put forward for the whole domain as its overall movement performance index,the method of platform and plane adjustment to adjust levels under different degrees of freedom,flexibility and are applied to solve the whole domain flexibility,its performance mapping analysis the adjustment platform flexibility,along with the change of structural parameters provide reference for the structural optimization.