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首页> 外文期刊>Nuclear Instruments & Methods in Physics Research >Kinematics analysis of six-bar parallel mechanism and its applications in synchrotron radiation beamline
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Kinematics analysis of six-bar parallel mechanism and its applications in synchrotron radiation beamline

机译：六连杆并联机构的运动学分析及其在同步辐射束线中的应用

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摘要

Six-bar parallel mechanism is now widely applied in synchrotron radiation beamline, while the six-dimensional adjustment is difficult and inefficient for lack of theoretical direction. This paper introduces a special six-bar parallel mechanism. By means of coordinate transformations, the inverse kinematics of six-bar parallel mechanism is studied, and the precise equations for six bars' lengths are obtained. Based on the inverse kinematics, forward kinematics of six-bar parallel mechanism is obtained with trust region method working for nonlinear optimization. The corresponding MATLAB program is also designed. The results show that trust region method is an effective way to solve forward kinematics, and the program is stable, reliable and rapid. This method has small errors with linear precision of 10~(-12) mm and rotational precision of 10~(-15) deg. Using differential snail adjustment, monochromator chamber's attitude can reach a linear resolution of 5 μM and a rotational resolution of 3", which entirely satisfies the practical requirements.
机译：六杆并联机构目前被广泛应用于同步辐射束线，而六维调整由于缺乏理论方向而困难且效率低下。本文介绍了一种特殊的六杆并联机构。通过坐标变换，研究了六杆并联机构的逆运动学，得到了六杆长度的精确方程。在逆运动学的基础上，采用信赖域法对六连杆并联机构进行正向运动，进行非线性优化。还设计了相应的MATLAB程序。结果表明，信赖域法是解决正向运动学的有效方法，程序稳定，可靠，快速。该方法误差小，线性精度为10〜（-12）mm，旋转精度为10〜（-15）deg。使用差分蜗牛调节，单色仪腔室的姿态可以达到5μM的线性分辨率和3“的旋转分辨率，完全可以满足实际要求。

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