摘要
To guarantee the accuracy of error analysis and evaluate the manufacturing tolerance s influence,anumerical error analysis method for parallel kinematic machines (PKMs) is presented in this paper.Quasi-Newton method and genetic algorithm are introduced for the forward kinematic solution.Based onthe inverse and forward kinematic solutions,the end-effector s error calculation procedure is developed.To solve the accuracy problem caused by the length and angular parameters' different units,a normalizationmethod is proposed based on the manufacturing tolerance.Comparison between the error analysis resultscalculated by the traditional method and the numerical method for a 4RRR PKM shows that,this numericalerror analysis method is more accurate,simpler,and can evaluate the machine s real error basedon the manufacturing tolerance.
To guarantee the accuracy of error analysis and evaluate the manufacturing tolerance＇ s influence, a numerical error analysis method for parallel kinematic machines （PKMs） is presented in this paper. Quasi-Newton method and genetic algorithm are introduced for the forward kinematic solution. Based on the inverse and forward kinematic solutions, the end-effector＇s error calculation procedure is developed. To solve the accuracy problem caused by the length and angular parameters＇ different units, a normaliza- tion method is proposed based on the manufacturing tolerance. Comparison between the error analysis re- sults calculated by the traditional method and the numerical method for a 4RRR PKM shows that, this nu- merical error analysis method is more accurate, simpler, and can evaluate the machine＇s real error based on the manufacturing tolerance.
基金
Supported by the National High Technology Research and Development Programme of China ( No. 2007AA041901 )
the National Natural Science Foundation of China ( No. 50775117 )
the National S&T Major Project ( No. 2009XZ04001-025 )
the Technology Innovation Fund of AVIC ( No.2009E 13224 )
