摘要
为获得平面冗余并联机构各杆件长度尺寸误差关系,进行了机构的位置建模,优化了误差尺寸。并联机构参考固高GPM2012机器人,选取顺时针构型,利用2条驱动闭链,建立了该机构的输出点位置方程组和误差方程,运用泰勒公式展开,获得误差项,定义了杆件误差影响系数,同时遍历工作空间,获得各杆件误差影响系数分布图,指出在并联机构中,各杆件基本长度相同情况下,不同的误差尺寸对输出位置影响不同。最后,采用优化设计的方法,给出了多种情况下的杆件误差比例关系。
In order to obtain the relationship of size errors between rods length on planar redundant parallel mechanism,the position model of the parallel mechanism is established and the error size is optimized. The clockwise configuration was selected on the parallel mechanism which referenced GPM2012 robot, and the positional equation and error equation of the output point were set up by two drive closed chains. The error terms were obtained by using the Taylor formula, the rod error influence coefficient was defined, then the distribution diagram of error influence coefficient for each rod was drawing through traversing the working space. This paper pointed out that different error size had different influences on the output position of the same length rods. Finally, the error ratio on various cases was given by using the method of optimization design.
出处
《机械设计》
CSCD
北大核心
2017年第5期65-70,共6页
Journal of Machine Design
关键词
并联机构
顺时针构型
误差影响系数
泰勒展开
优化
parallel mechanism
clockwise configuration
error influence coefficient
Taylor expand
optimization
