Kinematics modeling and model validation of series spherical mechanism for photoelectric platform

doi:10.3788/OPE.20202808.1725

CORC > 长春光学精密机械与物理研究所 > 中国科学院长春光学精密机械与物理研究所

	Kinematics modeling and model validation of series spherical mechanism for photoelectric platform
	M.-Y. Wang,D.-P. Tian and L.-H. Guo
刊名	Guangxue Jingmi Gongcheng/Optics and Precision Engineering
	2020
卷号	28 期号:8 页码:1725-1732
ISSN号	1004924X
DOI	10.3788/OPE.20202808.1725
英文摘要	The traditional framework structure of airborne photoelectric platforms limits their load ratio. A new series spherical mechanism could solve this problem, but there is no kinematic model to support the design. Based on the D-H parameter method, the forward and inverse kinematics models of the series spherical mechanism were established. The kinematic model was solved using MATLAB, and the correctness of the model was verified by comparison with ADAMS, a multi-body dynamic analysis software.The experimental device was set up to collect and perform the kinematic model verification experiment.The results show that the experimental error between the calculated value and the measured value of the kinematics model in the experimental equipment is within 5% and is mostly a result of machining adjustment error and sensor measurement error in the experimental system. The model established provides a solid foundation for application in research on optoelectronic platform visual axis pointing control based on a spherical mechanism. 2020, Science Press. All right reserved.
URL标识	查看原文
内容类型	期刊论文
源URL	[http://ir.ciomp.ac.cn/handle/181722/64637]
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	M.-Y. Wang,D.-P. Tian and L.-H. Guo. Kinematics modeling and model validation of series spherical mechanism for photoelectric platform[J]. Guangxue Jingmi Gongcheng/Optics and Precision Engineering,2020,28(8):1725-1732.
APA	M.-Y. Wang,D.-P. Tian and L.-H. Guo.(2020).Kinematics modeling and model validation of series spherical mechanism for photoelectric platform.Guangxue Jingmi Gongcheng/Optics and Precision Engineering,28(8),1725-1732.
MLA	M.-Y. Wang,D.-P. Tian and L.-H. Guo."Kinematics modeling and model validation of series spherical mechanism for photoelectric platform".Guangxue Jingmi Gongcheng/Optics and Precision Engineering 28.8(2020):1725-1732.