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| Static Analysis of a New Laser Measuring Platform |
| ZHANG Dian-fan1,QU Xiao-man2,CHENG Shu-hong2 |
1. Institute of Science and Technology, Yanshan University, Qinhuangdao, Hebei 066004, China
2. Institute of Electrical Engineering, Yanshan University, Measurement Technology and Instrumentation Key Lab of Hebei Province, Qinhuangdao, Hebei 066004, China |
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Abstract The static analysis is researched aiming at a new laser measuring platform. Firstly, the closed-loop vector constraint equations is established, which can carry out the velocity Jacobi matrix based on vector method. On the basis of this analysis, the force Jacobian matrix which reflects the mapping relation between the external forces and moments acting on the moving platform and the actuated joint is established by using principle of virtual work. Then, the static calibration experiment is carry out to verify the correctness of the force Jacobian matrix mentioned above. Finally, the evaluation indexs of static performance are defined with Lagrange’s conditional extremum. The experimental results have indicated that the proposed method can reveal the relationship between structural parameters and the evaluation indexs of static performance. Moreover, the parallel mechanism proposed theoretically have best statics comprehensive performance.
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Received: 25 December 2015
Published: 27 September 2017
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Corresponding Authors:
CHENG Shuhong
E-mail: shhcheng@ysu.edu.cn
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2017, Vol. 38 
