论文部分内容阅读
提出了利用一种可实现一个移动和两个转动的小型3自由度(3-DOF)并联机构来支撑并控制次镜,以达到激光精确聚焦目的的方案。通过对小型3-PRS机构的运动模式分析,采用欧拉角描述动平台的运动方式,对其运动学特性做了简要分析。引入该机构连接杆的质量分布因子,利用虚功原理建立了逆动力学模型。基于建立的动力学模型,提出了两种控制策略方案。利用ADAMS/Control模块和MATLAB/Simulink模块联合仿真了该机构的控制精度。最后将该机构应用于实际光路系统中,测量了两种控制方案下该机构控制的调焦次镜对聚焦光斑性能的影响。仿真结果充分证明了该机构完全满足支撑激光聚焦次镜结构的设计要求。
A scheme of supporting and controlling the secondary mirror by using a small 3-DOF (3-DOF) parallel mechanism that can realize one movement and two rotations is proposed to achieve the purpose of precise laser focusing. Through the analysis of the movement mode of the small 3-PRS mechanism, the Euler angle is used to describe the moving mode of the moving platform, and its kinematics is briefly analyzed. By introducing the mass distribution factor of the connecting rod of the mechanism, an inverse kinematics model was established by the principle of virtual work. Based on the established dynamic model, two control strategies are proposed. The ADAMS / Control module and MATLAB / Simulink module were used to simulate the control accuracy of this mechanism. Finally, the mechanism was applied to the actual optical system, and the influence of the focusing secondary mirror controlled by the mechanism under the two control schemes on the performance of the focal spot was measured. The simulation results fully proved that the mechanism fully meets the design requirements of the secondary mirror structure supporting laser focusing.