基于Hexapod的精密跟瞄平台研究

针对精密光学设备的空间应用,设计了基于并联机构的空间高稳定精密跟瞄系统。利用所设计的宏/微双重驱动复合作动器和精密铰接元件,研制了精密跟瞄Hexapod平台原理样机,考虑到精密跟瞄系统的特点,开发了包括宏动控制系统、微动控制系统和检测系统在内的实验测试系统,并利用实验初步测试了Hexapod平台原理样机关键性能。由实验结果可知,平台原理样机的转动范围超过10°,最高开环转动速度大于5deg/s,经压电微动部分补偿后的平台静态定位误差小于5μrad,通过主动控制使扰动振幅衰减至噪声水平,可用于驱动有效载荷以较高的速度在较大范围内搜索目标并具有较好的静态定位精度和稳定性。

Study of Space-born Precise Tracking/Pointing Platform Based on Hexapod

This paper discussed platform providing high stability precise pointing functionality for space-born optical instruments based on hexapod. With the self-designed precision dual-driving hybrid actuators and hinges, a precision pointing Hexapod prototype was designed and manufactured. Considering the features of the precise pointing Hexapod, an experiment system was developed including macro-moving control system, micro-moving control system and measurement system. Primary experiments based on the Hexapod prototype and the experiment system were carried on. Results show that the rotational degree range of the platform exceeds 10°, maximum open-loop velocity is higher than 5 deg/s, static positioning error being less than 5μrad with the compensation of micro-moving stages of the hybrid actuators, and the disturbance amplitude can be reduced to noise level by PZT stages when active vibration control turn on.