惯性平台并联缓冲器复位精度的分析与综合

摘要

Based on a parallel bumper used for inertial platform, the relationship between position and pose errors of the moving platform with structural parameters errors are analyzed. First, the accuracy model of the parallel bumper is provided by the differential theory. Then, according to this model, the output errors of the moving platform are calculated with the given structural parameters errors based on actual manufacturing tolerances. Finally, by adding an additional constraint conditions in order to minimize the differences of the various structural parameters errors, the accuracy synthesis optimization model is provided. The actual accuracy requirement of inertial platform is adopted to calculate, and the results indicate that if the restoration accuracy of the moving platform is no more than 15, the corresponding manufacturing tolerances of the structural parameters should be less than 0.0134 mm.%以一种用于惯性平台的并联缓冲器为研究对象，分析了其动平台位姿误差与各结构参数误差间的关系。首先，利用全微分理论建立了并联缓冲器的精度模型；然后，结合实际制造精度给定各结构参数误差的值，利用此模型估算出了缓冲器动平台的输出误差；最后，以尽量缩小各结构参数误差值的差异为附加约束条件，建立了精度综合的最优化模型，并根据惯性平台对精度的实际要求进行计算，结果表明：将动平台的复位精度控制在15以内时，相应的结构参数制造公差应小于0.0134 mm。