交叉杆型并联机床误差模型建立与分析

Building and Analysis of Error Model of Cross-legged PKM

基于交叉杆型并联机床的并联机构特点,利用空间矢量法建立了几何误差的数学模型,由此得出了动平台中心点位姿误差与铰链点位置误差和驱动杆长度误差的关系表达式。并针对BJ-04-02(A)型交叉杆并联机床的初始位置误差进行了计算分析,所得结论对并联机床的性能评价有一定的指导意义。

Geometrical error models of a parallel kinematics machine tool （PKM） on the basis of structural character of cross- legged are built by the differential vector method. The expression between drive -leg errors, joint -position error and position and orientation error in active platform geometrical center was obtained, and calculating analysis of the initialization error of BJ - 04 - 02 （A） cross - legged PKM was made. The conclusions are of some help to the performance evaluation of PKM.