摘要
由于关节间隙的存在,并联机构末端执行器经常会产生一些运动误差,这些误差的大小与关节间隙的大小、关节位置和机构姿态都有关系。对某四自由度混并联机床进行了运动学分析,在ADAMS软件中建立了该机床并联机构的虚拟样机,采用接触力方式定义了机构关节间的传动关系,通过运动仿真研究了部分关节间隙对机构运动精度的影响规律,验证了方法的可行性。
Due to clearances in their joints, parallel mechanism always exhibits some kinematic errors at the end effector. The amount of error depends on the amount of joint-clearance, the joint position, and the pose of the manipulator. The kinematic analysis of a 4-DOF hybrid machine tool was studied, a virtual prototyping of the parallel mechanism was established in ADAMS/View,and a kind of transmission-contact force between the joint of mechanism parts was presented. The regularity of influence was obtained through a kinematic simulation when the mechanism has several joint-clearances. The results show that this method is suitable to analyze this kind of problems.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2007年第4期471-475,共5页
China Mechanical Engineering
基金
国家自然科学基金资助项目(50275084)
关键词
运动学分析
关节间隙
接触力
运动仿真
kinematic analysis
joint- clearance
contact force
kinematic simulation
