确定空间连杆机构运动误差的微分算子矩阵法

The Derivative Operator Matrix Method for Determining Kinematic Errors of Spatial Linkages

根据矩阵闭环方程和误差分析理论，提出了计算空间连杆机构运动误差的微分算子矩阵法。灵活应用该文导出的微分算子矩阵和有关公式，可以得到简洁的矩阵形式的误差计算公式。该文方法特别适用于只含Ｒ、Ｐ、Ｃ、Ｈ运动副的空间连杆机构。更有意义的是所有公式的数值计算均可由计算机自动完成。

In this paper,the derivative operator matrix method is given to calculate kinematic errors of spatial linkages on the basis of the loop matrix equation and the theory of error.The calculating error formulae with simple matrix form can be obtained by properly using derivative operator matrices and related formulae mentioned in this paper.The method is especially suitable to the kinematic error analysis of the spatial linkage which involves only R,P,C and H pairs.It is especially meaningful that the numerical calculations of all formulae can automatically be carried our by a computer,thus lying the foundation for compiling error analysis programs of the spatial linkage.