穩定與指向機構之研究

Abstract

本論文由機構自由度的觀點設計機載感測裝置，進而發展出六自由度運動平台搭配空中載具，使置於其上之雙軸感應器環架能穩定完成其指向之位置，並利用工作空間分析規劃機載內外空間。 在飛行器上為了使感測器能穩定指向其視線並補償飛機飛行時所產生誤差，因此需要設計環架控制機構與六自由度的穩定器。環架機構可使感測器能完成指向功能，而六自由度穩定器則用於即時補償飛行器所產生的運動誤差，使得感測器能穩定的完成工作。 雙軸環架機構之討論包含精密之轉動區塊環架機構設計、機構最佳化設計、機械效能分析﹔而位置補償平台之分析包含平台工作空間重建與分析、靈巧度分析、工作空間最佳化。並利用邊界方塊技術來分析機構工作空間得到更詳盡三度空間圖形資料使得工作空間可被更精確估算。

In this dissertation, we discuss the design of the airborne sensor hardware architecture based on the degree freedom perspective. The six D.O.F. motion base is therefore developed and placed beneath the two-axis sensor gimbal to compensate the air vehicle motion error, and stabilize the pointing direction. In addition we use the technique of the workspace analysis to layout the inside and ouside space of the airborne vehicle. In order to stabily point the sensor into the commanded line-of-sight and to compensate the motion error derived from the aircraft flight, the gibmal control with the mechanism design and the six degree-of-freedom stabilizaer are needed. The gimbal mechanism is used for the function of pointing, and the six degree-of-freedom motion platform is used for the motion compensation induced by the flight vehicle, therefore the sensor can be stabiliy perform its task. The two-axis gimbal design includes a precise mechanical gimbal design for the turning block, the mechanical optimization design, and the mechanical advantage analysis. The platform analysis of the position compensation includes workspace reconstruction technology, workspace analysis, and dexterity analysis with optimization. The marching cube technology is used for the workspace analysis and estimation with the detailed 3D graphic data for more accurate evaluation for the workspace.