Research On Kinematics And Error Of Side Loading Assemble-calibrating Mechanism Of Giant Laser Facility

In the construction of a giant laser device in China,a large number of optomechanical modules need to be installed from the side to the spatial filter.These modules are numerous in number and large in quantity,and their cleanliness,installation accuracy,and loading and unloading frequency are high,and the installation space is complicated and narrow.This paper is aimed at the needs of the side-mounted optomechanical module assembly task,and designs a set-up mechanism that can complete the precise and efficient loading and unloading tasks of all the side-mounted optomechanical modules in the spatial filter.Firstly,the paper introduces the research status,kinematics,error and optimization design research methods of series institutions at home and abroad,and studies and analyzes the working objects,processes and functional requirements of the tooling system,and proposes the functions and technical indicators of the tooling system to determine the tooling system.The overall design of the system,and the structural principles and composition of the core part of the system in the system is described in detail.Secondly,kinematics analysis is carried out on the school assembly mechanism,and the kinematics model of the school assembly mechanism is established by DH parameter method.The forward and inverse solutions of the mechanism are solved,the correctness of the results of the forward and reverse solutions is verified,and the school assembly mechanism is obtained through the Robotics Toolbox simulation.The motion characteristic curve verifies the correctness of the kinematics equation and the rationality of the mechanism design.In order to further analyze the working performance of the loading mechanism,the Adams software is used to simulate the motion joints of the mechanism,and the driving force parameters of each joint are obtained.The basis for motor selection and optimization control.Then,based on kinematics,the static pose error analysis model of the school assembly mechanism is established,and the influence of different geometric parameter errors on the attitude error of the mechanism end is analyzed by Matlab software,and the position error of the mechanism end is compensated by the perturbation error compensation method.Compensation is made to verify the feasibility and practicability of the compensation method.Finally,through the ANSYS Workbench software,the static and modal analysis of the installation mechanism is carried out,and the maximum deformation and stress values of the mechanism in two working conditions are obtained.The results show that the strength and stiffness meet the design requirements;The modal results analyze the natural frequency and mode shape to provide a basis for avoiding resonance.The sensitivity analysis method is used to optimize the structure of the mechanical arm of the loading mechanism,and the rigidity of the mechanical arm is improved.