北京航空航天大学学报 ›› 2011, Vol. 37 ›› Issue (3): 263-267.

• 论文 • 上一篇    下一篇

空间2-RSSS机构的误差分析

陈培, 王兴   

  1. 北京航空航天大学 宇航学院, 北京 100191
  • 收稿日期:2010-07-14 出版日期:2011-03-31 发布日期:2011-04-01
  • 作者简介:陈 培 (1979-),男,北京人,讲师,cjhien@sa.buaa.edu.cn.
  • 基金资助:

    国家重点基础研究发展计划项目(2009CB723906)

Error model analysis of 2-RSSS spatial mechanism

Chen Pei, Wang Xing   

  1. School of Astronautics, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2010-07-14 Online:2011-03-31 Published:2011-04-01

摘要: 对低速运动带间隙空间2-RSSS机构的误差展开研究,首先建立了带间隙的空间2-RSSS机构的误差模型,并基于二力杆假设把约束副间隙误差转化成为杆长误差,在保持精度的条件下简化了误差模型.其次推导了敏度矩阵的参数化表示,并建立了该机构的误差仿真模型,求解了敏度矩阵的参量,该敏度矩阵解法结合了符号推导的规律性明显和数值计算结果精确的优势.最后基于数值仿真验证了近似敏度矩阵求解的有效性,并对该机构的误差进行了分析,给出了在确定加工精度条件下约束副间隙影响指向误差的关键参数以及这些关键参数的优化设计准则.

Abstract: The position error sources of a low speed 2-RSSS spatial mechanism were studied. Firstly, error model of this mechanical system was built considering realistic joint characteristics, namely, joints with clearance was presented. A simplified model was built under the assumption of two-force principle, error of the clearance joints was represented by linkages- length. The simplifications not only simplify the process of solving the problem but also maintain the accuracy. Secondly, the error sensitivity matrix of the spatial mechanism derived in parameterization form. The invariants in it were figured out by a series of numerical examples. The analytical expressions were straightforward and numerical computation can provide precise amounts. Thirdly, numerical examples verified the results of the semi-analytical method. Finally, designing guidelines for low speed 2-RSSS spatial mechanism are given.

中图分类号: 


版权所有 © 《北京航空航天大学学报》编辑部
通讯地址:北京市海淀区学院路37号 北京航空航天大学学报编辑部 邮编:100191 E-mail:jbuaa@buaa.edu.cn
本系统由北京玛格泰克科技发展有限公司设计开发