【作者】 田学光；

【导师】 田兴志；

【作者基本信息】 中国科学院研究生院（长春光学精密机械与物理研究所） ， 机械制造及自动化， 2010， 博士

【摘要】 测试转台根据不同的使用要求都有各自的特点,标定测绘相机对转台提出了新的要求,包括大的尺寸结构,低矮的垂直轴结构、大的承载力、高的定位精度和稳定性。本文针对实际工程项目测绘相机标定转台结构系统关键技术进行研究。从转台的特点出发,对转台的结构方案、驱动方案、测角方案和电控方案进行了分析研究。对转台的结构关键技术进行了深入研究:包括针对大型件的,低矮的高刚度结构和轻量的高刚度结构;高精度和高稳定性的密珠轴系结构;高分辨率和高稳定性的角度微驱动装置。对转台的各项误差进行了分析检测。引用多体系统理论方法对转台的定位误差进行研究,推导了定位误差公式,并应用定位误差公式对转台的各项误差的影响程度进行了分析。采用理论和工程实践相结合的方法,围绕转台的具体结构设计、误差分析和精度检测进行深入研究。文章中理论研究包括:粗精结合的双驱动方案、微位移技术研究、精度检测方法研究、多体系统理论研究、定位误差研究。工程实践包括:大型结构件的设计,轴系设计,角度微驱动装置设计。主要针对转台要求高精度、高稳定性和大尺寸、大载荷的特点,分别从结构方面和精度方面进行了分析研究。为了解决大角度、高精度的矛盾,提出了粗精结合的方法,即采用力矩电机粗定位和采用角度微驱动装置精确定位的双驱动方案;提出了一种变精密直线位移为精密旋转角位移的原理,并依据此原理设计出了角度微驱动装置,利用此装置,可以在小角度范围内获得高的定位精度,满足了转台高精度的使用要求;引入了多体系统的理论方法,通过此理论能够分析各项误差对定位误差的影响,还利用matlab图形仿真的方法,就各项误差对转台定位误差的影响进行了仿真分析计算,通过图形能够很直观的看出各误差对定位误差的影响,便于在总体设计中进行误差的合理分配,最主要的是可以通过预先计算得到的误差数据,在转台的实际工作中对误差进行预测分析和修正。本文的研究为研制大型精密标定转台提供了理论依据和实际的工程经验,具有突出的理论意义与现实意义。更多还原

【Abstract】 Test tables have respective characteristics according to different using demands. Calibrating mapping camera bears new requirements for turntable which include large scale, low vertical axis, great loading capacity, high positioning accuracy and stability.This dissertation researches the key techniques of mapping camera calibration turntable structure system design based on practical engineering project.Firstly, the turntable scheme about structure design, driving method, angles measuring and electronic controlling are analyzed and researched. Secondly, an intensive study of the mechanical structure is made and it includes low and high rigidity structure; light and high rigidity structure; high accuracy and high stability dense ball bearing shafting; high resolution and high stability angular micro driving device. Thirdly, the author tests errors of the table. Finally,the author studies positioning error of the turntable based on multi-body system theory, deduces the formula in error positioning and uses it to analyze the influence degree of all errors.In this dissertation, based on the method of integrating theory with engineering practice the table is intensively studied from the following aspects: specific structure design, error analysis and accuracy testing. Theoretical research of the dissertation includes roughness combined with precision driving scheme, micro displacement technique, accuracy testing method , multi-body system theory and positioning error. Engineering practice includes big structure member design, shafting structure design and angular micro driving device design.In this dissertation, centering on the turntable’s characteristics of the large scale, great load, high accuracy and high stability, the author studies and analyzes turntable in an aspect of structure and precision . The author advances the idea of roughness combined with precision to solve the conflict of big angle and high precision, that is double driving scheme of torque motor coarse positioning and angular micro driving device accurate positioning ; the author puts forward a new angular displacement conversion principle which can make straight-line displacement into angular displacement ,and designs angular micro driving device by the principle. The table can acquire high positioning accuracy in a small angle range satisfying operating requirements in use of the device. The author introduces multi-body system theory, by which we can analyze the various errors’influence on the positioning error . Matlab is used to simulate and analyze the influence. By means of graphics we visually can see the influence of various errors so that reasonable distribution of errors can be achieved in overall design. Mostly error data can be gotten through pre-computation algorithm and be analyzed and corrected in the practical work of turntableThe study of this dissertation provides theoretical basis and practical experience for the research of large-scale high accuracy turntable,which is prominent in theoretical and practical significance.更多还原