摘要
为了提高分立式宏微结合的12自由度微装配系统的整体位姿运动控制精度,提出误差矢量坐标变换合成法,建立了微装配系统基于刚体假设的误差传递模型,推导了装配零件与装配基体零件的位姿误差计算公式,提出了姿态误差灵敏度分析计算方法,根据分析结果采用微位姿检测装置测量获得了系统补偿向量,使微装配系统整体位姿运动控制精度提高至微米级.
To improve the motion control accuracy of separate-structured 12-DOF macro-micro micro-assembly system, an error model is established by using error vectors combining method. Pose error calculation equations of micro parts are established. An error sensitivity analysis method is proposed. Error compensation vectors of micro assembly system are obtained using micro pose measuring device. As a result, motion control accuracy of the assembly system can be improved to a degree of micrometer level.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2011年第1期15-18,共4页
Transactions of Beijing Institute of Technology
基金
国家部委基金资助项目(51318020309)
关键词
微装配
误差矢量
精度分析
micro-assembly
error vector
accuracy analysis
