Research on a High-Precision Pointing System with Single-Stage Control

doi:10.12382/bgxb.2022.0292

Abstract

Abstract:

Achieving high-pointing accuracy is a primary technical challenge for a single-stage control pointing system. Eliminating the position-floating link of the pointing mechanism can significantly enhance pointing accuracy. A pointing system is proposed in the paper, which uses an RPS-SPS parallel mechanism without the floating position. The transmission theory and error elimination algorithm of this pointing mechanism validate its efficacy. A prototype is built and tested, and the test results show that the uniaxial error of the prototype is not greater than 0.004 °, the synthetic pointing error is not greater than 0.006 °, and the stability time is not greater than 100 ms both under loaded and no-loaded conditions. The prototype has the pointing function in two axes, with a working space of ±9 ° in both axes. The theoretical model and test results confirm the feasibility and effectiveness of the system. The research lays a foundation for the engineering application of a high-precision pointing system with single-stage control.

Key words: pointing system, high-precision, single-stage control, parallel mechanism, error elimination

CLC Number:

V219

DU Yonggang, WANG Xuesong, WANG Yuling. Research on a High-Precision Pointing System with Single-Stage Control[J]. Acta Armamentarii, 2023, 44(8): 2477-2485.

Figures/Tables 20

Fig.1 Configuration of the high-precision pointing system

Fig.2 Composition of the parallel mechanism

Fig.3 Schematic diagram of the mechanism

Fig.4 Control process of the pointing mechanism

Fig.5 Rolling ball bearing of the pointing mechanism

Fig.6 Error elimination algorithm of the pointing mechanism

Fig.7 Definition of the spatial coordinate system

Fig.8 Vector definition of single leg

Fig.9 Vector graph of double legs

Table 1 Parameters of the pointing mechanism

a/mm	b/mm	d/mm	α/(°)
388.0	377.0	135.6	120

Fig.10 Simulation results of the mechanism workspace

Fig.11 Simulation results of uniaxial errors

Fig.12 Simulation results of synthetic pointing errors

Fig.13 Photograph of the prototype

Fig.14 Test results of the workspace

Fig.15 Test results of uniaxial error

Fig.16 Test results of synthesis error

Fig.17 Test results of comparison times

Fig.18 Test results of stability time

Fig.19 Pointing position in the spatial coordinate system

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