Exact solutions and applications of the inverse kinematics of six-bar parallel mechanism in synchrotron radiation beam-line

LI Yongjun1; 2 LU Qipeng1 PENG Zhongqi1 CHEN Jiahua3 1

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Exact solutions and applications of the inverse kinematics of six-bar parallel mechanism in synchrotron radiation beam-line

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- Exact solutions and applications of the inverse kinematics of six-bar parallel mechanism in synchrotron radiation beam-line
- NUCLEAR TECHNIQUES Issue 7, (2008)
- 作者机构：
  
  1. 中国科学院长春光学精密机械与物理研究所应用光学国家重点实验室
  2. 中国科学院上海应用物理所
- 作者简介：
- 基金信息：
  
  国家重大科学工程项目上海光源工程(SS-06,O7093XQ070)资助
- DOI：
  CLC： TH112
- Published：01 July 2008
- 稿件说明：
移动端阅览
[1]李勇军,卢启鹏,彭忠琦,陈家华.同步辐射光束线六杆并联机构的逆运动学精确求解及应用[J].核技术,2008(07):485-488.

LI Yongjun1, 2 LU Qipeng1 PENG Zhongqi1 CHEN Jiahua3 1. Exact solutions and applications of the inverse kinematics of six-bar parallel mechanism in synchrotron radiation beam-line[J]. Nuclear techniques, 2008, (7): 485-488.
[1]李勇军,卢启鹏,彭忠琦,陈家华.同步辐射光束线六杆并联机构的逆运动学精确求解及应用[J].核技术,2008(07):485-488. DOI：

LI Yongjun1, 2 LU Qipeng1 PENG Zhongqi1 CHEN Jiahua3 1. Exact solutions and applications of the inverse kinematics of six-bar parallel mechanism in synchrotron radiation beam-line[J]. Nuclear techniques, 2008, (7): 485-488. DOI：

摘要

目前同步辐射光束线六杆并联机构应用广泛

但六杆并联机构六维调节缺乏理论指导

调节困难

工作效率较低

为提高收敛速度和调节精度

本文分析了并联机构的特性

从相关物理模型出发

运用坐标变换法详细分析了六杆并联机构的逆运动学问题

得到六杆长度的精确求解方程组。采用MATLAB软件对系统仿真计算

得到相应的杆长变化曲线。实例应用结果表明

该方法快速有效

线性调节分辨可高于5μm

转角分辨可高于3"

完全满足实际要求

为同步辐射光束线光学平台的精密调节提供了理论依据。

Abstract

Six-bar parallel mechanism is widely used in synchrotron radiation facilities for X-ray optics of the beam-lines.The six-dimensional adjustment

however

is difficult and inefficient without theoretical direction. Toachieve improved speed and accuracy of the six-dimensional adjustment

characteristics of the parallel mechanism are analyzed. By means of coordinate transformations

the inverse kinematics of six-bar parallel mechanism is studied

and the precise equations for six bars length are obtained. Curves of six bars length are represented after simulating and calculating by MATLAB. The result shows that the method is fast and efficient

the linear resolution can be better than 5 μm and the rotational resolution can be better than 3". This method satisfies practical requirement and provides a theoretical foundation for the platform’s fine adjustment in synchrotron radiation beam-line.

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Related Institution

National Synchrotron Radiation Laboratory, University of Science and Technology of China

中国科学技术大学国家同步辐射实验室

Changchun Institute of Optics, Fine Mechanics and Physics, the Chinese Academy of Sciences

中国科学院长春光学精密机械与物理研究所

Shanghai Advanced Research Institute, Chinese Academy of Sciences

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