【摘要】 运用空间矢量环微分法,建立了兼顾位置和姿态两类误差的位姿误差正解数学模型。此误差模型描述了机构末端位姿误差与各误差源之间的显式映射关系,可定量分析各误差源对机构输出误差的影响。分析了机构位姿参数、结构参数在一定范围内变化时的误差变化曲线,为机构结构参数和工作位姿参数范围的选取提供了理论依据。为分析2UPSRPU并联机构在整个工作空间内各误差源对位姿误差的影响,利用正交设计思想,只需较少的计算量,即可对该机构进行误差分析。基于正交设计思想,将4个位姿参数看成对位姿误差有影响的4个因素,依据位姿参数变化对位姿误差的影响合理划分各因素的水平,使排列的正交表为误差分析提供合理位姿。结合正交表,仿真了机构各末端输出误差对各个误差源的响应程度,从而揭示了影响机构误差的关键因素,可用于指导物理样机的制造与安装。更多还原

【Abstract】 The pose error model of positive solutions was built by using the space closed-loop vector method that contained both position errors and posture errors.This model contained all the input and installation errors,and described the dominant functional relationship between the mechanism terminal pose errors and every error resource which was used to analysis the contribution of each error resource to the kinematic accuracy of the mechanism.The law of the pose output error changed with the posture parameters and structure parameter changed in certain ranges.The results provide a theoretical basis for the structure and selection of posture parameters.Orthogonal design was used to analyze the impact of each error resource in every posture which only requires less calculated amount based on which four pose parameters of 2UPS-RPU parallel mechanism were considered as four factors for pose errors.With the orthogonal table,the pose output errors to respond with each error resource was simulated that reveal the critical factor and direct the physical prototype manufacturing and installation.更多还原