多轴框架机构静不平衡力矩一体化高精度测量与自动补偿研究

The static balance level determines to a great extent the performance of a multi-axis gimbaled mechanism (e.g. coordinator, inertial gyro, etc.). This application, selecting two-axis gimbaled mechanisms as the cut-in point for the research work, intends to present a high-accuracy solution to solve the problem of integrated statically balancing. The research contents of this application include the followings: 1) Presenting a method of integratedly measuring two-axis gimbaled mechanism's unbalanced moments, enhancing the measurement accuracy via optimizing the key parameters of the measurement system based on the estimation for the priciple error, realized according to the ideas of active-force balance principles. 2) Presenting a high accurancy measurement method of active-force balancing based on multi-degree-of-freedom flexible mechanism, and a decoupled mechanism sloving the coupling interference which can influence the measuring precision among the gimbaled mechanisms as well, realized rapid and accurate quantification of the flexible mechanism's output forces. 3) Presenting a method of automatically compensating the static balance via laser amending carried by robot. Researching on the coordinated control theory and method between the high accurate measurement system aiming to optimize static balance performance and automatic compensated system of robot laser amending, realizing the on-line elimination of static unbalanced moments via contactless approach. 4) Designing an experiment platform, on which experiments would be done towards the measurement and compensation of the proposed measurement method and compensation method, would be verified. The research result would significantly improve the dynamic performance of such institutions in our country, thus the research work would have important values both in theoretical and practical perspectives.

静平衡水平是位标器/陀螺等多轴框架机构性能提升的重要制约因素。本申请以二轴框架机构为研究切入点，探讨多轴框架机构静不平力矩一体化高精度测量与自动补偿方法。包括：1）提出基于主动式力平衡原理的双框架机构静不平衡力矩一体化测量方法，以原理误差的估计结果为依据，设计静平衡测量系统的关键工艺参数，实现测量精度最优化；2）提出基于多自由度柔顺机构的主动平衡高精度测力/矩方法，并且提出解决框架间因耦合干扰影响测量精度的自解耦机构，实现柔顺机构输出力的精确量化及快速测量目标；3）提出基于机器人携带激光修刻去重的静平衡非接触自动补偿方法，研究以静平衡性能指标最优为目标的高精度测量系统与机器人激光修刻自动补偿系统间的协调控制理论与方法，实现对框架静不平衡力矩的在线非接触自动补偿与修正；4）建立原理验证平台，验证所提静平衡测量及补偿方法的有效性。研究成果可大幅提高我国此类机构动态性能，具有重要研究与应用价值。

静平衡水平是位标器/陀螺等多轴框架机构性能提升的重要制约因素。本项目以二轴框架机构为研究切入点，探讨多轴框架机构静不平力矩一体化高精度测量与自动补偿方法。包括：1）提出基于主动式力平衡原理的双框架机构静不平衡力矩一体化测量方法，以原理误差的估计结果为依据，设计静平衡测量系统的关键工艺参数，实现测量精度最优化；2）提出基于多自由度柔顺机构的主动平衡高精度测力/矩方法，并且提出解决框架间因耦合干扰影响测量精度的自解耦机构，实现柔顺机构输出力的精确量化及快速测量目标；3）提出基于机器人携带激光修刻去重的静平衡非接触自动补偿方法，研究以静平衡性能指标最优为目标的高精度测量系统与机器人激光修刻自动补偿系统间的协调控制理论与方法，实现对框架静不平衡力矩的在线非接触自动补偿与修正；4）建立原理验证平台，验证所提静平衡测量及补偿方法的有效性。研究成果可大幅提高我国此类机构动态性能，具有重要研究与应用价值。