并联6-RUS卫星相机像移补偿机构建模与分析

摘要/Abstract

摘要：

将并联6-RUS机构作为卫星相机像移补偿机构，以补偿在轨卫星多维耦合运动引起的像移。基于影响系数理论，利用旋量速度、旋量加速度建立了卫星相机像移补偿机构的运动学模型。利用基于旋量理论的牛顿-欧拉方程，在非惯性系建立了该机构的动力学模型，并分析了非惯性系运动对机构输入的全域影响。该种基于旋量的机构建模方法，利用坐标不变性直接在非惯性系建模，简化了机构建模过程。

关键词: 非惯性系, 像移补偿, 并联机构, 旋量理论

Abstract:

A parallel 6-RUS mechanism was used as the compensation platform for image motion which was caused by the multi-dimensional motion of the satellite. Based on influence coefficient theory, the kinematics model of this mechanism was built by velocity screw and acceleration screw. The dynamics model of this parallel platform in non-inertial frame was developed taking advantage of Newton-Euler's equation based on screw theory, and then the influence of the motion of the non-inertial frame on input of the mechanism in the whole working space was analysed. This mechanism modeling method was simplified with screw using coordinate-invariant in the non-inertial system.

Key words: non-inertial system, compensation for image motion, parallel mechanism, screw theory

中图分类号:

TP24
TH112

赵延治, 赵飞, 杨建涛, 李兴兴, 赵铁石, . 并联6-RUS卫星相机像移补偿机构建模与分析[J]. 中国机械工程, 2016, 27(03): 369-375.

Zhao Yanzhi, Zhao Fei, Yang Jiantao, Li Xingxing, Zhao Tieshi, . Modelling and Analysis of 6-RUS Parallel Mechanism of Image Compensation of Satellite Camera[J]. China Mechanical Engineering, 2016, 27(03): 369-375.

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