【摘要】 并联机构的综合误差是目前制约并联机构在高精度场合应用、无法回避的主要因素。在并联机构的铰链坐标、连杆和动平台的综合误差分析的基础上,介绍了并联机构单项误差的补偿及控制、综合误差的解耦及各子误差的识别、综合误差的补偿及控制、铰链坐标的标定及误差补偿的研究情况,提出并联机构综合误差的补偿及控制进一步的研究工作可在两个方面开展,一是铰链坐标的标定方程的求解方法,二是并联机构综合误差负反馈自控主动补偿。并联机构综合误差负反馈自控主动补偿是补偿及控制并联机构的综合误差、提高并联机构精度的先进方法。更多还原

【Abstract】 Comprehensive error of parallel mechanism is one of influencing factors which restricts its use in high precision,but this is unable to avoid. On the basis of comprehensive error analysis of hinge coordinates and bar and moving platform,this paper introduces the compensation and control of the single error and the comprehensive errors,the separation of the comprehensive errors and identification of the each error,then,puts forward two plans which are used to research on compensating and controlling its comprehensive errors: solving equation method of hinge coordinates and active compensation method of automatic control with negative feedback for its comprehensive errors. The active compensation method is an advanced method for compensating and controlling the comprehensive errors,which can be used to improve the accuracy of the parallel mechanism.更多还原