摘要
以单自由度吊丝配重式系统为研究对象,建立系统误差模型。为评估各类几何误差及惯性力对补偿精度的影响,将起吊点和悬挂点的偏离量作为误差评估指标,选定同步误差对应的误差评估指标进行误差匹配,可分析各类误差的影响。研究发现吊丝长度与补偿精度成正相关,各类几何误差对评估指标的影响有差异。惯性力引起的误差可等效成求解悬链线问题,经分析发现,其导致起吊点方向偏转为最大影响因素。算例表明,角加速度过大时,系统对吊丝长度有更高的要求。
The system error model is established by taking the single degree of freedom wire counterweight system as the research object.In order to evaluate the influences of various types of geometric errors and inertial forces on the compensation accuracy,the deviation of the lifting point and suspension point is taken as the error evaluation index,and the error evaluation index corresponding to the synchronization error is selected for error matching,which can analyze the influences of various types of errors.It is found that the length of the hanging wire is positively correlated with the compensation accuracy,and there are differences in the influence of various types of geometric errors on the evaluation index.The error caused by inertia force can be equated by solving the suspension chain line problem,and it is found that the inertia force causes the deflection of the lifting point direction as the biggest influencing factor.The calculation example shows that the system has higher requirements on the length of the hanging wire when the angular acceleration is too large.
作者
姜建建
黄志来
周慧明
张如燕
房翔
王彪
JIANG Jianjian;HUANG Zhilai;ZHOU Huiming;ZHANG Ruyan;FANG Xiang;WANG Biao(AnHui Province Key Laboratory of Special Heavy Load Robot,Ma’anshan,Anhui 243000,China;School of Mechanical Engineering,Anhui University of Technology,Ma’anshan,Anhui 243000,China)
出处
《河北工程大学学报（自然科学版）》
CAS
2023年第1期104-112,共9页
Journal of Hebei University of Engineering:Natural Science Edition
基金
国家自然科学基金资助项目(52005006)。
关键词
机械臂
微重力补偿
误差评估指标
惯性影响分析
mechanical arm
microgravity compensation
parameters of error evaluation
analysis of inertial influence
