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Optimal Design Method for Six-Axis Vibration Isolation Platform

A vibration isolation platform and optimization design technology, applied in calculation, instrumentation, geometric CAD, etc., can solve the problems of lack of standards for determining the scaling factor, separation method can not take into account the rotation and movement performance of the six-axis platform at the same time, and achieve the goal of design optimization Effect

Active Publication Date: 2019-01-08
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

At present, the problem of homogenization of the Jacobian matrix has not been completely solved. The size scaling method involves how to determine the scaling value. There is still no criterion, and the separation method cannot take into account the optimization of the performance of the six-axis platform rotation and movement.
[0004] Scaling method is a reasonable and widely used method, currently there is a lack of standards for determining the scaling factor

Method used

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  • Optimal Design Method for Six-Axis Vibration Isolation Platform
  • Optimal Design Method for Six-Axis Vibration Isolation Platform
  • Optimal Design Method for Six-Axis Vibration Isolation Platform

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Embodiment Construction

[0052] Below in conjunction with accompanying drawing and specific embodiment, further illustrate the present invention, should be understood that these embodiments are only for illustrating the present invention and are not intended to limit the scope of the present invention, after having read the present invention, those skilled in the art will understand various aspects of the present invention Modifications in equivalent forms all fall within the scope defined by the appended claims of this application.

[0053] 1 Dual Quaternion and Jacobian Matrix with Uniform Scale

[0054] In mathematics and mechanics, the set of dual quaternions is a Clifford algebra, which can be transformed with spinor and 4×4 homogeneous transformation matrix, and can be used to represent the displacement of a rigid body in space. A dual quaternion is an ordered pair of two quaternions, the quaternion in the real part represents rotation, and the quaternion in the dual part contains movement. How...

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Abstract

The invention discloses a method for generating a dimension balanced jacobian matrix of a general six-axis parallel mechanism based on dual quaternions. Optimum design is carried out to the moving performance of a six-axis vibration isolation platform. Rotation and movement of a tail end executer are expressed by using two quaternions. The standard of a dimension scaling factor is defined as the norm ratio of the two quaternions; the dimension balanced jacobian matrix is exported. The isotropy of partial kinematics is taken as a performance index; and the optimized vibration isolation platform has the minimum movement coupling.

Description

technical field [0001] The invention belongs to the research field of kinematics and optimal design of a parallel mechanism, in particular the optimal design of motion performance of a vibration isolation platform based on a parallel mechanism. Background technique [0002] The precise pointing of high-precision space systems requires a very quiet environment, and high-precision spacecraft such as space interferometers and laser communication equipment need to achieve nanoscale motion stability. To meet such strict requirements, many spacecraft design and control methods are used to reduce the impact of spacecraft micro-vibration on precision instruments. One of the most important techniques is to install a vibration isolation system between the source of interference and the precision instrument. The six-axis vibration isolation system based on the Stewart mechanism is a better solution, and many researchers have carried out research on this platform in recent years. As a...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F17/50
CPCG06F30/17
Inventor 杨小龙吴洪涛李耀陈柏姚裕
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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