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并联结构轴系回转误差建模及装配优化

董一鸣 江波 李翔宇 谢友金 吕涛 阮萍

董一鸣, 江波, 李翔宇, 谢友金, 吕涛, 阮萍. 并联结构轴系回转误差建模及装配优化[J]. 中国光学(中英文), 2024, 17(3): 586-594. doi: 10.37188/CO.2023-0171
引用本文: 董一鸣, 江波, 李翔宇, 谢友金, 吕涛, 阮萍. 并联结构轴系回转误差建模及装配优化[J]. 中国光学(中英文), 2024, 17(3): 586-594. doi: 10.37188/CO.2023-0171
DONG Yi-ming, JIANG Bo, LI Xiang-yu, XIE You-jin, LV Tao, RUAN Ping. Rotary error modeling and assembly optimization of parallel structure shafting[J]. Chinese Optics, 2024, 17(3): 586-594. doi: 10.37188/CO.2023-0171
Citation: DONG Yi-ming, JIANG Bo, LI Xiang-yu, XIE You-jin, LV Tao, RUAN Ping. Rotary error modeling and assembly optimization of parallel structure shafting[J]. Chinese Optics, 2024, 17(3): 586-594. doi: 10.37188/CO.2023-0171

并联结构轴系回转误差建模及装配优化

doi: 10.37188/CO.2023-0171
基金项目: 国家自然科学基金青年基金项目(No. 12103081)
详细信息
    作者简介:

    江 波(1981—),男,湖北武汉人,博士,正高级工程师,2015年于中国科学院大学获得工学博士学位,主要从事光电测控技术、微小位移及角度驱动技术、同步辐射技术等方面的研究。E-mail:ilysay@opt.ac.cn

  • 中图分类号: TH745

Rotary error modeling and assembly optimization of parallel structure shafting

Funds: Supported by National Natural Science Foundation for Young Scientists of China (No. 12103081)
More Information
  • 摘要:

    为提高光电经纬仪等二维转台的轴系运动精度,本文基于雅可比旋量理论建立了一种可考虑零件结构误差及其耦合放大效应的数学模型。针对“一端固定、一端游动”的轴系结构,提出了局部并联结构的分析方法。通过数值仿真分析,获得了各零件结构误差对轴系运动精度的影响以及最优的轴系装配方案。光学口径为650 mm的光电经纬仪的装调结果表明:装配优化后的轴系运动精度较优化前提高了32.1%。所构造的轴系运动精度模型及优化方法为指导光电经纬仪等二维转台的轴系装调以及公差设计提供了一定的理论根据。

     

  • 图 1  运动误差示意图

    Figure 1.  Schematic diagram of motion error

    图 2  局部并联结构示意图

    Figure 2.  Schematic diagram of local parallel structure

    图 3  轴系结构与回转误差测量

    Figure 3.  Shaft structure and rotary error measurement

    图 4  PSO收敛曲线

    Figure 4.  PSO convergence curve

    图 5  敏感性分析

    Figure 5.  Sensitivity analysis

    图 6  几何量测量

    Figure 6.  Geometric measurement

    图 7  轴颈跳动

    Figure 7.  Journal runout

    图 8  优化三维曲面图

    Figure 8.  Optimized 3D surface

    图 9  装配误差补偿

    Figure 9.  Assembly error compensation

    表  1  俯仰轴系几何误差及编号

    Table  1.   Geometric deviation items and numbers of elevation axle

    零件名坐标系误差项编号
    固定端轴承o1δ(x), δ(y), δ(z), θ(y), θ(z)1, 2, 3, 4, 5
    固定端轴套o2δ(x), δ(y), δ(z), θ(y), θ(z)6, 7, 8, 9, 10
    固定端法兰o3δ(x), δ(y), δ(z), θ(y), θ(z)11, 12, 13, 14, 15
    游动端法兰o4δ(x), δ(y), δ(z), θ(y), θ(z)16, 17, 18, 19, 20
    游动端轴承o5δ(y), θ(z)21, 22
    游动端轴套o6δ(x), δ(y), δ(z), θ(y), θ(z)23, 24, 25, 26, 27
    下载: 导出CSV

    表  2  轴系运动模型参数

    Table  2.   Shafting motion model parameters

    参数名 数值
    E1 [±0.005, ±0.020, ±0.020, 0, ±9.696×10−6, ±9.696×10−6]T
    E2 [±0.005, ±0.005, ±0.005, 0, ±9.696×10−6, ±9.696×10−6]T
    E3 [±0.005, ±0.005, ±0.005, 0, ±9.696×10−6, ±9.696×10−6]T
    E4 [±0.010, ±0.010, ±0.010, 0, ±8.242×10−6, ±8.242×10−6]T
    E5 [0, ±0.010, ±0.010, 0, 0, 0]T
    E6 [±0.005, ±0.020, ±0.020, 0, ±9.696×10−6, ±9.696×10−6]T
    L1 250 mm
    L2 1100 mm
    L3 200 mm
    L4 150 mm
    下载: 导出CSV

    表  3  测量结果

    Table  3.   Measurement results

    转角
    /rad
    跳动量
    /μm
    顺时针 逆时针
    X/″ Y/″ $ \sqrt{X^{2}+Y^{2}} $ X/″ Y/″ $ \sqrt{X^{2}+Y^{2}} $
    0 0 0 0 0 0.5 0.2 0.54
    0.52 4 1.7 1.5 2.27 1.9 0.8 2.06
    1.05 3 2.2 1.7 2.78 3 1.5 3.35
    1.57 5 2.8 1.6 3.22 3.3 1.2 3.51
    2.09 2 2.3 0.3 2.32 2.6 −0.1 2.60
    2.62 3 1.6 0.2 1.61 1.5 0.5 1.58
    3.14 5 0.6 1.9 1.99 0.7 2.1 2.21
    3.67 10 1.3 3.3 3.55 1 3.1 3.26
    4.19 9 2.1 3.3 3.91 1.9 3 3.55
    4.71 7 2.3 2 3.05 2.5 1.7 3.02
    5.24 4 1.1 1 1.49 1 0.3 1.04
    5.76 1 −0.1 −0.3 0.32 0.1 −0.1 0.14
    6.28 1 0.4 −0.1 0.41 0.4 −0.1 0.42
    下载: 导出CSV
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出版历程
  • 收稿日期:  2023-09-28
  • 修回日期:  2023-10-26
  • 录用日期:  2023-11-24
  • 网络出版日期:  2024-01-16

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