一种二自由度灵巧型装置设计与精确定位的实现

针对大口径光学系统舱内部空间狭小,导致传统检测设备安装困难的问题,设计了一种便于在狭小光学仓内执行镜面缺陷检测的灵巧型伸缩装置;并通过拟合算法实现了对该装置末端的精确定位。首先具体介绍了该装置的结构设计;并对该装置建立了包含齿隙特征的数学模型。然后,采用基于最小二乘法的曲线拟合算法简化了装置末端坐标表达式;并通过仿真得出最佳拟合阶次,降低了误差,提高了坐标定位精度。该装置在实际应用中完成了狭小光学仓内的检测任务,且能够达到正负0.005 mm的精度,满足设计需求,证明了方法的可行性。

Design of a 2-DOF Flexible Equipment Precise Positioning

To solve the installment problem of traditional testing equipment due to the narrow inner space of large aperture optical system cabin, this paper designs a smart extensible equipment which is easy to detect the defects of optical mirror surface and realizes precise positioning of the equipment"s terminal by using fitting algorithm. Firstly, it specifically introduces the structural design of the equipment, and establishes a mathematical model which includes the characteristics of backlash; then it simplifies the coordinate expression of equipment"s terminal by using curve fitting algorithm based on least square method and gets the best fit degree by simulation, which reduces errors and improves precision of coordinate positioning .In practice, it accomplishes testing the narrow optical cabin and reaches the precision within 0.005mm, which meets the demand of design and proves feasibility of this method.