【摘要】：根據(jù)6-UPS并聯(lián)機(jī)構(gòu)逆運(yùn)動(dòng)學(xué)模型,通過微分變換,構(gòu)建了動(dòng)平臺(tái)位姿誤差模型,由誤差模型可知:動(dòng)平臺(tái)位姿誤差來源于6個(gè)支桿長度誤差和12個(gè)鉸鏈中心的位置誤差,共42個(gè)誤差項(xiàng)。還建立了軸承間隙對萬向節(jié)中心位置和復(fù)合球鉸中心位置影響的隨機(jī)誤差模型,利用蒙特卡洛模擬分析了支桿長度誤差和軸承游隙對動(dòng)平臺(tái)的位姿誤差的影響,結(jié)果表明:當(dāng)支桿長度誤差服從均勻分布,鉸鏈中心位置誤差服從均勻分布時(shí),動(dòng)平臺(tái)位姿誤差近似服從正態(tài)分布,且動(dòng)平臺(tái)位姿對鉸鏈軸承游隙的敏感度大于對支桿長度誤差的敏感度。為6-UPS并聯(lián)機(jī)構(gòu)的誤差分析提供了一種方法。
[Abstract]:According to the inverse kinematics model of 6-UPS parallel mechanism and differential transformation, the position and attitude error model of moving platform is constructed. According to the error model, the position and attitude error of moving platform comes from the length error of 6 branches and the position error of 12 hinge centers. There are 42 error terms. The random error model of bearing clearance on the center position of universal joint and the center position of compound spherical hinge is also established. The influence of the length error of bearing rod and the bearing clearance on the position and attitude error of moving platform is analyzed by Monte Carlo simulation. The results show that when the length error of the supporting rod is uniformly distributed and the center position error of the hinge is uniformly distributed, the pose error of the moving platform is approximately distributed from the normal distribution. The sensitivity of moving platform position to hinge bearing clearance is greater than that of support rod length error. A method for error analysis of 6-UPS parallel mechanism is provided.
【作者單位】： 中國科學(xué)院大學(xué)長春光學(xué)精密機(jī)械與物理研究所;中國科學(xué)院大學(xué);
【基金】：國家自然科學(xué)基金資助項(xiàng)目(60507003)
【分類號】：TH112

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