基于并联机器人的柔性装配工装构型精度综合

Accuracy Synthesis of Flexible Assembly Fixture Configuration based on Parallel Robot

介绍了一种用于航空发动机数字化装配的柔性工装构型,根据3-UPU并联机构的几何特性建立了万向副及杆长的误差模型,采用蒙特卡洛罗法模拟分析了驱动杆杆长误差和万向副间隙对末端执行器误差的影响。在精度分析的基础上,根据末端执行器的最大位姿误差,运用基于内点罚函数的粒子群优化算法,以加工制造成本最小为目标函数进行精度综合,合理地确定零部件的制造公差。为试验样机的建立提供了参考。

A flexible fixture configuration for Aero--engine digital assembly is designed. Then aiming at the geometric feature of 3--UPU parallel mechanism, the error model is built considering universal hinge and rod length. Monte Carlos methods are adopted to analyze the influence on end executor error of rod length error and the universal vice clearance. Using particle swarm optimization based on interior point penalty function algorithm, accuracy synthesis is carried out according to the maximum pose error of end executor and objective function based on manufacturing cost minimum, the manufacturing tolerance of the parts is reasoraable to detemaine, and a reference is provided for the development of prototype.