Increasing the static and dynamic accuracy of the parallel structure mechanism for space application

Abstract

The article considers the control system of a parallel structure mechatronic device for space application such as a hexapod (Stewart platform). The solution of the inverse problem of kinematics is described and the necessity of solving the direct problem of kinematics by numerical methods is substantiated. During the research, it was revealed that the main source of positioning errors of the hexapod without the main feedback is its linear drives, which have systematic errors in the mechanical part of the linear transmission, gearbox, in the location of the motor windings; temperature errors due to changes in the dimensions of parts due to heating or cooling; errors caused by elastic deformations under load. To improve the static accuracy of the hexapod, a number of both design and software solutions are proposed: mechanical transmission preload, individual calibration of each drive, compensation for thermal expansion, etc. To improve the dynamic accuracy, it is proposed to use the method of controlling linear drives in the servo mode along with ensuring the trajectory of the platform with the limitation of the speed of its movement and derivatives of the speed. The use of these methods makes it possible to significantly improve the accuracy of the operation of the mechanisms of a parallel structure and, thereby, to approach the achievement of the limiting qualitative properties of onboard optical-electronic and information systems of spacecraft and stations.