冗余电机驱动的正交并联模拟台误差分析
|
摘要
介绍了一种用于运动模拟的冗余电机驱动的正交并联机构,并对机构可能的几何误差源进行了全面分析。为了避免误差建模时大量的偏导计算,根据机构支链的正交布置特征并结合运动学影响系数的原理建立了较为完备的误差模型。模型包含了结构参数误差、驱动误差及铰链制造误差在内的144个误差参数。另外,提出了一种确定被动关节转角唯一解的方法。最后,考察了模拟台样机所有误差参数对末端精度的影响,确定了84个对末端精度影响大的误差参数。
A novel parallel robot with orthogonal chains and redundant actuators designed for simulator was presented.Based on the orthogonal feature of the mechanism and the principle of the influence coefficients,the error model was established without the complex partial differentiation,which accommodate all possible geometrical errors,the joint manufacturing errors,the installation errors,the actuation errors etc.A method to confirm the unique striking angle of the passive joint was proposed.Based on the real parallel simulator,the simulation result shows the effect of all the errors on the accuracy and indicates the major errors contributing to the inaccuracies of the end-effector.
A novel parallel robot with orthogonal chains and redundant actuators designed for simulator was presented.Based on the orthogonal feature of the mechanism and the principle of the influence coefficients,the error model was established without the complex partial differentiation,which accommodate all possible geometrical errors,the joint manufacturing errors,the installation errors,the actuation errors etc.A method to confirm the unique striking angle of the passive joint was proposed.Based on the real parallel simulator,the simulation result shows the effect of all the errors on the accuracy and indicates the major errors contributing to the inaccuracies of the end-effector.
引文
【1】Wang J,Masory O.On the Accuracy of a Stewart plat-form-part I:The effect of manufacturing tolerances[C]//IEEE Inter Conf on Robotics and Automation,1993:114-120.
【2】Maurine P,Dombre E.A calibration procedure for the parallel robot Delta4[C]//Proceedings of IEEE Inter-national Conference on robotics and Automation,Minne-apolis,1996,2.975-980.
【3】李嘉,王纪武,陈恳,等.基于广义几何误差模型的微机器人精度分析[J].机械工程学报,2000,36(8):20-24.
【4】汪劲松,白杰文,高猛.Stewart平台铰链间隙的精度分析[J].清华大学学报:自然科学版,2002,42(6):758-761.
【5】黄田,李亚.一种三自由度并联机构几何误差建模、灵敏度分析及装配工艺设计[J].中国科学:E辑,2002,32(5):628-635.
【6】胡明,田文元,蔡光起.并联机床驱动杆铰链位置误差分析[J].东北大学学报:自然科学版,2007,28(3):389-392.
【7】黄真,孔令富,方跃法.并联机器人机构学理论及控制[M].北京:机械工业出版社,1997.
【8】李为民,高峰.一种自均力冗余驱动接口模块[J].中国机械工程,2004,15(2):157-159.
【9】刘伟.具有3-2-1并联结构地震模拟器的关键技术研究[D].天津:河北工业大学,2004.
【2】Maurine P,Dombre E.A calibration procedure for the parallel robot Delta4[C]//Proceedings of IEEE Inter-national Conference on robotics and Automation,Minne-apolis,1996,2.975-980.
【3】李嘉,王纪武,陈恳,等.基于广义几何误差模型的微机器人精度分析[J].机械工程学报,2000,36(8):20-24.
【4】汪劲松,白杰文,高猛.Stewart平台铰链间隙的精度分析[J].清华大学学报:自然科学版,2002,42(6):758-761.
【5】黄田,李亚.一种三自由度并联机构几何误差建模、灵敏度分析及装配工艺设计[J].中国科学:E辑,2002,32(5):628-635.
【6】胡明,田文元,蔡光起.并联机床驱动杆铰链位置误差分析[J].东北大学学报:自然科学版,2007,28(3):389-392.
【7】黄真,孔令富,方跃法.并联机器人机构学理论及控制[M].北京:机械工业出版社,1997.
【8】李为民,高峰.一种自均力冗余驱动接口模块[J].中国机械工程,2004,15(2):157-159.
【9】刘伟.具有3-2-1并联结构地震模拟器的关键技术研究[D].天津:河北工业大学,2004.
版权所有：© 2023 中国地质图书馆 中国地质调查局地学文献中心