摘要
针对并联机构误差耦合进行了分析研究。对一种3自由度并联机构进行分析,利用空间矢量链法建立误差模型,用数值法和解析法对机构进行正解计算,通过1阶摄动法将各支链不同误差代入误差模型中。虽然每条支链各部分的误差最终会累积到各个支链的末端,并且支链末端的误差也有各自的方向性,但最终体现在并联机构动平台中心处的误差并不是各支链各方向的累加,其最后体现到动平台末端的误差要比各支链方向累积要小,其主要原因是并联机构特殊的结构抵消了一部分支链误差。对六自由度Stewart机构也进行误差耦合分析,将不同误差代入矢量链误差模型,得出支链误差,再将支链误差代入数值法方程中研究,发现动平台误差也小于各支链平均误差。
The error coupling of the parallel mechanism was analyzed and studied.A three-degree-of-freedom parallel mechanism was analyzed,the space vector chain method was used to establish an error model,numerical and analytical methods were used to calculate the positive solution of the mechanism,and the different errors of each branch into the error model was substituted through the first-order perturbation method.Although the error of each part of each branch chain will eventually accumulate to the end of each branch,and the error of the end of the branch has its own directionality,the error finally reflected in the center of the moving platform of the parallel mechanism is not the direction of each branch.The error of the end of the moving platform is smaller than the accumulation of each branch chain direction.The main reason is that the special structure of the parallel mechanism offsets part of the branch chain error.The error coupling analysis of the six-degree-of-freedom Stewart mechanism was also carried out.After substituting different errors into the vector chain error model,the branch chain error was obtained,and then the branch chain error was substituted into the numerical method equation.It is found that the moving platform error is also smaller than the average error of each branch chain.
作者
赵俊杰
周晓静
雷俊松
Zhao Junjie;Zhou Xiaojing;Lei Junsong(Xuangang Branch,Hebei College of Industry and Technology,Zhangjiakou,Hebei 075100,China;Zhuhai Gree Electric Appliance Co.,Ltd.,Zhuhai,Guangdong 519000,China)
出处
《机电工程技术》
2021年第4期142-146,168,共6页
Mechanical & Electrical Engineering Technology
关键词
并联机构
误差耦合
机构正解
parallel mechanism
error coupling
positive solution
