论文部分内容阅读
为实现ITER(国际热核聚变实验堆计划)部件转运车TECA(Transfer Equipment CAsk)与托卡马克真空室或热室窗口的自动对接,提出了基于并联举升机构实现TECA的位姿调整的方法.设计了一种用于核环境下TECA转运车位姿调整的Stewart型并联举升机构,分析了该举升机构及其运动特征,建立了该机构的运动学模型,给出了逆运动学解析过程,并通过牛顿迭代法得到正运动学数值解.最后,采取双闭环的控制方式,以提高对接精度和速度.现场实验中该并联举升机构能够在大尺度范围下完成4.25 m×1.3 m×1.75 m的TECA转运车与真空室窗口的精确对接任务,并且能够达到0.88 mm以内的重复定位精度.结果表明该方法在求解平台位姿参数过程中具有速度快、精度高等优点.
In order to realize the automatic docking between ITER (ITER) Transfer Equipment TECA (Transfer Equipment CAsk) and tokamak vacuum chamber or hot chamber window, a method of adjusting pose of TECA based on parallel lift mechanism A Stewart parallel lifting mechanism designed for the position adjustment of TECA truck in nuclear environment was designed. The lifting mechanism and its movement characteristics were analyzed, and the kinematics model of this mechanism was established. An inverse kinematics analysis Process and obtain the positive kinematic numerical solution by Newton’s iteration method.Finally, the control method of double closed-loop is adopted to improve the precision and speed of docking.In the field experiment, the parallel lifting mechanism can accomplish 4.25 m × 1.3 m × 1.75 m TECA pallet truck and the window of the vacuum chamber, and can achieve the repeat positioning accuracy within 0.88 mm.The results show that this method has the advantages of fast speed and high precision in solving the platform pose and attitude parameters.