Optimization design and key-term separation identification of parallel six-dimensional pose sensor with high sensitivity and high precision

IF 4.5 1区 工程技术 Q1 ENGINEERING, MECHANICAL Mechanism and Machine Theory Pub Date : 2024-09-13 DOI:10.1016/j.mechmachtheory.2024.105716
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Abstract

The integrated bearing-positioning parallel manipulator is an important mean for ground testing of space optical telescope before being launched into space. To ensure positioning accuracy, the manipulator requires a pose sensor for the end-effector measurement with six degrees of freedom (DOF), real-time, high-precision, and operation in a vacuum environment. However, it is challenging for the current pose sensor to simultaneously meet all these requirements. In this paper, a novel concept of six-dimensional pose sensor based on parallel mechanism is proposed. A new mechanism design approach is presented to achieve the large measurement range, real-time measurement performance, and high accuracy measurement based on performance atlas. First, the GF sets synthesis is developed to optimize the configuration of pose sensor. Next, two new design indicators are proposed to evaluate the real-time and high accuracy performance. Mechanism parameters are optimized by combining with mechanism singularity analysis. To guarantee high measurement accuracy, a key-term separation identification method with double neural networks is presented. Experiments on 6-UPS pose sensor demonstrate the effectiveness of the proposed mechanism design and key-term identification approach.

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高灵敏度和高精度并行六维姿态传感器的优化设计和关键项分离识别
集成轴承定位平行机械手是太空光学望远镜发射到太空前进行地面测试的重要手段。为确保定位精度,该机械手需要一个具有六个自由度(DOF)、实时、高精度且可在真空环境中工作的姿态传感器来测量末端执行器。然而,目前的姿态传感器要同时满足所有这些要求具有挑战性。本文提出了一种基于并联机构的六维姿态传感器的新概念。本文提出了一种新的机构设计方法,以实现大测量范围、实时测量性能和基于性能图集的高精度测量。首先,开发了 GF 组合成来优化姿态传感器的配置。其次,提出了两个新的设计指标来评估实时性和高精度性能。结合机构奇异性分析优化机构参数。为保证高测量精度,提出了一种采用双神经网络的关键项分离识别方法。在 6-UPS 姿态传感器上进行的实验证明了所提出的机构设计和关键项识别方法的有效性。
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来源期刊
Mechanism and Machine Theory
Mechanism and Machine Theory 工程技术-工程:机械
CiteScore
9.90
自引率
23.10%
发文量
450
审稿时长
20 days
期刊介绍: Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal. The main topics are: Design Theory and Methodology; Haptics and Human-Machine-Interfaces; Robotics, Mechatronics and Micro-Machines; Mechanisms, Mechanical Transmissions and Machines; Kinematics, Dynamics, and Control of Mechanical Systems; Applications to Bioengineering and Molecular Chemistry
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