摘要
建立了改进型Delta并联机构的运动位置误差模型,模型不仅考虑构件几何误差,而且在机构动力学研究基础上考虑了的机构主动关节刚度和杆件弹性变形误差因素。结合MATLAB软件生成伪随机变量作为机构可靠性分析的随机抽样试验参数。当机构按某运动规则运动时,利用Monte Carlo法采用点评价方式,得到不同运动时刻机构的运动位置可靠度和机构末端误差的均值和方差。通过对不同误差模型可靠度数据对比,发现机构主动关节刚度和杆件弹性变形误差对机构可靠性的影响不可忽视。
The kinematic position error model of the improved Delta parallel mechanism, which considers the geometric error of the component and the errors of active joint stiffness and the bars＇ elastic deformation, is established. Pseudo random variables are generated by the MATLAB software as the random sample test paranteters of the reliability analysis. When the mechanism is moving according to a certain rule, the kinematic reliability probability of the mechanism can be assessed at different times according to the point evaluation method by using of Monte Carlo method. And the mean and variance of the mechanism terminal error are obtained. Through the comparison of the reliability data of different error models, the influence of active joint stiffness and the bars＇ elastic deformation errors on the reliability of the mechanism is not negligible.
出处
《机械设计与制造》
北大核心
2016年第10期167-169,共3页
Machinery Design & Manufacture
基金
辽宁省高校创新团队支持计划项目资助(LT2015014)
辽宁科技大学优秀人才培养项目(2015RC12)
