摘要
为提高并联机床运动精度,解决其铰链误差对运动精度的影响问题,以东北大学开发的3-PTP并联机床为分析对象,采用叠加原理,建立三自由度并联机构驱动杆铰链误差模型;采用矩阵范数分析驱动杆铰链误差对动平台终端运动精度的影响规律.分析表明,结构参数λ大,不利于减小工作空间内动平台位置误差的最小值,但对其最大值影响不大.该误差模型的建立为此并联机床进一步优化机构设计参数以及误差补偿奠定了基础.
To improve the kinematic precision of 3-DOF parallel machine tools, the problem how the position error of the drive rod hinges affects the precision should be solved first. A relevant hinge position error model is therefore developed introducing the superposition method and taking the 3-PTP parallel machine tool developed by the Northeastern University as modeled object. Matrix norm is used to analyze the influence of position error of drive rod hinges on the kinematic precision of the end of moving platform, and the result shows that the greater value of the structural parameter A is disadvantageous to the minimum value of the position error of moving platform in working space but less disadvantageous to the maximum value. The error model proposed lays down a foundation on which the mechanism design parameters of parallel machine tools can be optimized further with the error compensation available.
出处
《东北大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2007年第3期389-392,共4页
Journal of Northeastern University(Natural Science)
基金
国家自然科学基金资助项目(5057038)
关键词
并联机床
运动精度
铰链误差
误差分析
矩阵范数
parallel machine tools
kinematic precision
hinge position error
error analysis
matrix norm
