空间2-RSSS机构的误差分析

陈培; 王兴

空间2-RSSS机构的误差分析

陈培,
王兴

北京航空航天大学宇航学院, 北京 100191

基金项目: 国家重点基础研究发展计划项目(2009CB723906)

详细信息

中图分类号: TH 115
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出版历程
- 收稿日期: 2010-07-14
- 网络出版日期: 2011-03-31

Error model analysis of 2-RSSS spatial mechanism

Chen Pei,
Wang Xing

School of Astronautics, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

摘要

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.
- 并联机构 /
- 铰间间隙 /
- 数值计算 /
- 误差研究
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.
- parallel-mechanisms /
- clearance joints /
- numerical computation /
- error analysis

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