摘要
主泵中空法兰螺栓在线检测装置轨道平台作为整个装置的运行基准,其位姿调控是实现精准超声检测的核心技术;将装置末端超声探头定位、倾摆、偏航误差映射为轨道平台的几何形态误差;提出基于形位测度思路的轨道平台调控机制。即将环形轨道、主泵筒体映射为并联机构的动、静平台,轨道平台与主泵主体六自由度相对位姿调控过程分解为具有几何意义的水平度、同心度有序调节过程;基于方位特征理论构型组合方案,综合出对应水平度调节的一平移两转动(1T2R)并联机构及同心度调节两平移一转动(2T1R)并联机构构型。所综合并联机构构型确保了轨道平台安装调整过程具有可调性、解耦性,其研究思路及可操作性设计方法可为多自由度调节机构设计提供思路。
The circular track platform serves as the benchmark of main pump online detection device of the flange bolt,its position and orientation adjustment of the circular track platform is the core technology to realize accurate ultrasonic inspection.The position,tilt and yaw errors of the ultrasonic probe during the inspection are mapped into the geometric posture errors of the track platform,the adjusting method of the inspection platform based on tolerance measurement is proposed.The circular track and the main pump cylinder are respectively mapped to the moving and static platforms of the parallel mechanism.The 6-DOF position and orientation calibration between the track platform and the the main pump body is decomposed into leveling and concentric adjustment separately.Based on the Position and Orientation Characteristics(POC)Theory,the mechanism topological synthesis are carried out and structure of the 1T2R parallel mechanism in horizontal adjustment and 2T1R parallel mechanism in the concentric adjustment are obtained.The synthesized parallel mechanism can satisfy the adjustability and decoupling property of the track platform in installation and adjustment.The designing method of the research can provide new thread for the design of other multi-degree-of-freedom adjusting mechanisms.
作者
马超群
杭鲁滨
周路生
张宝军
MA Chao-qun;HANG Lu-bin;ZHOU Lu-sheng;ZHANG Bao-jun(Shanghai University of Engineering Science,Shanghai 201600,China;State Nuclear Power Plant Service Company,Shanghai 200233,China)
出处
《机械设计与制造》
北大核心
2021年第4期141-144,149,共5页
Machinery Design & Manufacture
基金
国家自然科学基金(51475050)
上海汽车工业科技发展基金会项目(1617)
可变结构简体拉弯模具设计研制(E4-6000-18-0059)(18)JX-001
上海工程技术大学研究生科创项目(17KY0104)。
关键词
环形轨道
形位测度
并联机构
解耦
Circular Track
Pose Measure
Parallel Mechanism
Decoupling Property
