本文選題：三坐標(biāo)動(dòng)力頭 + 運(yùn)動(dòng)學(xué)標(biāo)定��； 參考：《天津大學(xué)》2012年碩士論文

【摘要】：本文密切結(jié)合飛機(jī)大型結(jié)構(gòu)件高速銑削加工的需求,系統(tǒng)研究了一種具有我國自主知識產(chǎn)權(quán)的新型三坐標(biāo)并聯(lián)動(dòng)力頭——A3頭的運(yùn)動(dòng)學(xué)標(biāo)定問題。內(nèi)容涉及A3頭的運(yùn)動(dòng)學(xué)分析、可將影響動(dòng)平臺(tái)位姿精度的可補(bǔ)償與不可補(bǔ)償誤差源有效分離的誤差建模方法、基于球桿儀信息檢測的運(yùn)動(dòng)學(xué)標(biāo)定技術(shù),及其計(jì)算機(jī)仿真與實(shí)驗(yàn)驗(yàn)證。主要研究成果如下: 在建立3-RPS并聯(lián)機(jī)構(gòu)位置正逆解模型的基礎(chǔ)上,基于矢量鏈法提出建立該機(jī)構(gòu)全誤差模型的建模方法,該方法通過將誤差閉環(huán)方程向支鏈驅(qū)動(dòng)與約束方向投影,進(jìn)而獲得末端位姿誤差與支鏈幾何誤差源的線性映射模型,具有建模思路清晰,且可有效分離可補(bǔ)償與不可補(bǔ)償誤差源,并具備一定的通用性的優(yōu)點(diǎn)。在此基礎(chǔ)上,通過靈敏度分析,為抑制末端不可補(bǔ)償誤差的零部件公差設(shè)計(jì)提供了理論依據(jù)。 建立基于球桿儀信息檢測的運(yùn)動(dòng)學(xué)標(biāo)定模型,并根據(jù)誤差源特征提出一種具有分層遞階格式的運(yùn)動(dòng)學(xué)標(biāo)定方法,該方法首先識別出初始位形的支鏈零點(diǎn)誤差,其次利用球桿儀識別其它幾何誤差源。鑒于利用該方法識別出的誤差源處于同一數(shù)量級,進(jìn)而提高了辨識結(jié)果的置信度。 提出了基于修正系統(tǒng)輸入的誤差補(bǔ)償策略,并以幾何誤差的可辨識性及辨識的抗擾動(dòng)性為依據(jù)規(guī)劃測量位形。計(jì)算機(jī)仿真結(jié)果表明,采用本文提出方法在理論上具有良好的魯棒性。 以天津大學(xué)自主研發(fā)的A3頭樣機(jī)為對象,開展運(yùn)動(dòng)學(xué)標(biāo)定實(shí)驗(yàn)研究。實(shí)驗(yàn)結(jié)果表明,按照分層遞階的標(biāo)定策略,經(jīng)零點(diǎn)標(biāo)定后刀具端點(diǎn)軌跡的圓度誤差可由498μm減小至192μm;經(jīng)球桿儀標(biāo)定后刀具端點(diǎn)軌跡的圓度誤差可進(jìn)一步減小到55μm,由此證明了本文提出理論與方法的有效性。
[Abstract]:In this paper, the kinematic calibration of a new type of 3-axis parallel power head, A3 head with independent intellectual property rights in China, is studied in close combination with the requirement of high-speed milling of large aircraft structural parts. The content involves the kinematics analysis of the A3 head, which can effectively separate the compensable and uncompensated error sources that affect the position and attitude accuracy of the moving platform, and the kinematics calibration technology based on the information detection of the ball rod instrument. And its computer simulation and experimental verification. The main findings are as follows: On the basis of establishing the forward and inverse solution model of the position of 3-RPS parallel mechanism, based on the vector chain method, a modeling method for establishing the full error model of the mechanism is proposed. By projecting the error closed loop equation to the direction of driving and constraint of the branch chain, the method is proposed. The linear mapping model of the end position error and branch chain geometric error source is obtained, which has the advantages of clear modeling idea, effective separation of compensable and uncompensated error sources, and generality. On this basis, the sensitivity analysis provides a theoretical basis for the design of component tolerance which can restrain the uncompensated error of the end. The kinematics calibration model based on the information detection of the ball rod instrument is established, and a kinematics calibration method with hierarchical format is proposed according to the characteristics of the error source. The method first identifies the zero point error of the branch chain of the initial configuration. Secondly, other geometric error sources are identified by using the ball rod instrument. In view of the fact that the error source identified by this method is of the same order of magnitude, the confidence degree of the identification result is improved. An error compensation strategy based on modified system input is proposed, and the configuration measurement is based on the identifiability of geometric errors and the anti-disturbance of identification. The computer simulation results show that the proposed method is robust in theory. An experimental study on kinematics calibration was carried out with A 3 prototypes developed by Tianjin University. The experimental results show that according to the hierarchical calibration strategy, After zero calibration, the roundness error of tool end trajectory can be reduced from 498 渭 m to 192 渭 m, and the roundness error of tool end trajectory can be further reduced to 55 渭 m after calibrating by ball rod instrument, which proves the validity of the theory and method presented in this paper.
【學(xué)位授予單位】：天津大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2012
【分類號】：TH113.22

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