Opto-Machine Module Assembly Alignment Docking Platform Multi-Target Research On Trajectory Planning

The smooth running of a major test put forward three performance requirements for the assembly and alignment of optical machine modules,such as high efficiency,cleanness and precision.How to improve the efficiency and precision of the alignment and docking of the optical machine die block has become the core problem to be solved urgently in the test.Based on this,this paper designs a 6-DOF series-parallel hybrid mechanism by analyzing the functional requirements of the assembly and alignment docking.Based on the degree of freedom,kinematics,dynamics,singularity analysis and verification of its correctness,the alignment and docking trajectory of the optical machine module is optimized,and the efficiency and accuracy of the alignment and docking are finally improved.It provides an effective technical means for the actual precision assembly,alignment and docking of optical machine die blocks.First of all,after analyzing the installation and calibration object,installation and calibration process and installation and calibration difficulties,this paper clarifies the functional requirements of the installation and calibration docking platform,decomposes the technical indicators,and designs a new set of six-degree-of-freedom series-parallel hybrid linkage mechanism after comparing and analyzing the schemes.The degree of freedom of the mechanism is verified by the calculation of the helix principle to meet the functional requirements.Secondly,the kinematics and dynamics of the horizontal adjustment unit are analyzed respectively by using vector method,Lagrange functional balance method and virtual work principle,and the results are compared and verified by MATLAB and ADAMS.The results show that the kinematics and dynamics analysis are reliable,and provide constraints for trajectory optimization.On the basis of kinematics analysis,the singularity analysis of the redundant horizontal adjustment element is carried out by ignoring a driving branch chain respectively,and the conditions to avoid the singularity are obtained,which provide constraints for the selection and optimization of spatial interpolation points for trajectory planning.Thirdly,the joint space trajectory of the horizontal adjustment unit was constructed by using the seventh NURBS spline curve with higher frequency,and the trajectory planning mathematical model was established.Then,the trajectory optimization was carried out by using genetic algorithm under the constraints of kinematics,dynamics and singularity,respectively,with time and pulsation as the optimization objectives.Through the analysis of the optimization results,it is proved that the superiority of selecting the seventh NURBS spline curve and the high efficiency of the algorithm are proved.The optimization results meet the optimization requirements of the horizontal adjustment unit for time and pulsation respectively under various constraints.It provides a foundation for the comprehensive optimization of the horizontal adjustment unit task model.Finally,based on the multi-objective trajectory optimization,the improved genetic algorithm NSGA-Ⅱ was adopted to optimize the trajectory of the horizontal adjustment unit task model planning based on the time and pulse synthesis optimization,considering the constraints among the optimization objectives.The results show that the NSGA-Ⅱ algorithm can achieve the comprehensive optimal state of multi-objectives,improve the efficiency and precision of the leveling adjustment unit,and meet the requirements of the actual assembly,alignment and docking task of the optical machine modules.