RV传动输出机构的刚性误差分析

Error Analysis of Output Mechanism of RV Device

ＲＶ传动中摆线轮与输出盘之间的输出机构是由三个双曲柄平行四边形机构组成的封闭式单自由度并联机构．由于构件长度的制造偏差和铰链运动副中的径向间隙，摆线轮与输出盘之间会产生相对位置误差．这一误差数值还与构件的弹性有关．作为基础，本文仅在刚体运动学的范畴内研究这一误差的数值，提出了关于一般四杆铰接机构刚性误差的计算模型，然后应用于平行四边形机构和ＲＶ传动的输出机构．最后给出了数值计算例证．

output mechanism of the RV device is a one-degree-of-freedom planar paraller linkage consisting of three double-crank parallelogram linkages. The link length differences and the clearences in the hings are the factors which cause position errors. The error is also related to the elastic of the links. As a basis and a proximity, this paper analyses the error under rigid hypothesis. A mathematic model for error analysis of a general 4-bar, linkage is developed. A numerical example is presented.