| 安明云， 于大泳， 张黎明.六自由度并联机构的误差分布研究[J].轻工机械,2019,37(1):23-27 |
| 六自由度并联机构的误差分布研究 |
| Research on Error Distribution of Six DOF Parallel Mechanism |
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| DOI：10.3969/j.issn.1005 2895.2019.01.004 |
| 中文关键词: 六自由度并联机构 Stewart平台 运动学 误差建模 MATLAB仿真 误差分布 |
| 英文关键词:six DOF parallel mechanism Stewart platform kinematics error modeling MATLAB simulation error distribution |
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| 中文摘要: |
| 针对制造和安装误差对并联机构末端位姿精度的影响问题，以六自由度Stewart并联机构为研究对象，在建立运动学正解一阶误差模型的基础上，结合泰勒展开式推导出Stewart并联机构末端的位置和方向误差与驱动器不同长度变化之间非线性关系式；并用MATLAB软件仿真分析结构参数误差存在的条件下，工作空间中六自由度Stewart并联机构末端位姿误差的分布情况。分析结果表明：不同位姿下，位姿误差存在差异；在x轴正方向上，位姿体积误差的变化规律具有一致性，均随x轴正方向的移动而逐渐增大；[JP2]同时位置体积误差的变化幅值远大于姿态体积误差的变化幅值，并且最大位姿误差出现在可达工作空间边缘的顶部位置。研究结果为该并联机构后续进行精度综合及误差补偿提供参考依据。 |
| 英文摘要: |
| For the influence of manufacturing and installation errors on the accuracy of the end position of the parallel mechanism, with the six degree of freedom Stewart parallel mechanism as the research object, the nonlinear relationship between the position and direction error of the end of the Stewart parallel mechanism and the different length changes of the driver was derived based on the establishment of the kinematics positive solution first order error model, combining with the Taylor expansion. The Matlab software was used to simulate and analyze the spatial distribution of the position error of the parallel mechanism under the condition of structural parameter error. The analysis results show that there are differences in pose errors under different poses. In the positive direction of the x axis, the variation of the pose volume error is consistent, and it gradually increases with the positive direction of the x axis, meanwhile the amplitude of the positional volume error is much larger than the amplitude of the attitude volume error. And the maximum pose error occurs at the top of the edge of the workspace. The research results provide a theoretical basis for the subsequent precision synthesis and error compensation of the parallel mechanism. |
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