Volume 37 Issue 3
Mar.  2011
Turn off MathJax
Article Contents
Chen Pei, Wang Xing. Error model analysis of 2-RSSS spatial mechanism[J]. Journal of Beijing University of Aeronautics and Astronautics, 2011, 37(3): 263-267. (in Chinese)
Citation: Chen Pei, Wang Xing. Error model analysis of 2-RSSS spatial mechanism[J]. Journal of Beijing University of Aeronautics and Astronautics, 2011, 37(3): 263-267. (in Chinese)

Error model analysis of 2-RSSS spatial mechanism

  • Received Date: 14 Jul 2010
  • Publish Date: 31 Mar 2011
  • 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.

     

  • loading
  • [1] Nieuwenhuizen F M,Paassen M M,Mulder M,et al.Implementation and validation of a model of the MPI Stewart platform .AIAA 2010-8217,2010 [2] Korayem M H,Shokri M. Maximum dynamic load carrying capacity of a 6UPS-Stewart platform manipulator[J].Scientia Iranica,2008,15(1):131-143 [3] Okafor A C,Ertekin Y M .Derivation of machine tool error models and error compensation procedure for three axes vertical machining center using rigid body kinematics [J].International Journal of Machine Tools&Manufacture,2000,40(8):1191-1213 [4] 李娟,孙立宁,刘延杰.一种新型平面并联定位机构的误差建模与分析[J].压电与声光,2009,31(2):284-288 Li Juan,Sun Lining,Liu Yanjie.Errors modeling and analysis of a novel planar parallel positioning mechanism [J].Piezoelectrics & Acoustooptics,2009,31(2):284-288(in Chinese) [5] 赵辉,高峰,彭林斌,等.一种基于4PUS&1PU*U机构的并联机床几何误差分析[J].中国机械工程,2004,15(5):377-380 Zhao Hui,Gao Feng,Peng Linbin,et al.Geometrical error analysis on parallel machine tool based on 4PUS&1PU*U mechanism [J].China Mechanical Engineering,2004,15(5):377-380(in Chinese) [6] 刘桂红.大射电望远镜平台静态结构参数误差分析与标定研究[J].湖南农机,2008(3):26-28 Liu Guihong.On the parametric error analysis and demarcation investigation for static structure of large radio telescope platform [J].Hunan Agricultural Machinery,2008(3):26-28(in Chinese) [7] Parenti-Castelli V,Venanzi S.Clearance influence analysis on mechanisms [J].Mechanism and Machine Theory,2005,40:1316-1329 [8] Ting K L,Zhu J M,Watkins D.The effects of joint clearance on position and orientation deviation of linkages and manipulators[J].Mechanism and Machine Theory,2000,35:391-401 [9] 徐卫良,邓家贤,吴慈生.确定连杆机构运动误差的矩阵法[J].东南大学学报,1986,3(3):32-41 Xu Weiliang,Deng Jiaxian,Wu Cisheng.Matrix method for determining the kinematic errors of a linkage[J].Journal of Southeast University,1986,3(3):32-41(in Chinese)
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Article Metrics

    Article views(3459) PDF downloads(866) Cited by()
    Proportional views
    Related

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return