摘要
机构的输出误差决定着应用性能。以旋量理论为基础,运用旋量参数与齐次变换矩阵的转换关系,将影响机构输出误差的铰链间隙及连杆参数等效为虚拟旋量。以3-RRR平面并联机构为对象,根据其拓扑结构的对称性,拆分为三个四杆机构。运用虚拟旋量,建立了四杆机构由输入到输出的误差模型;运用Matlab软件分别对三个输入支链引起的误差进行了理论计算分析。结果表明,该方法简洁有效,为各类平面并联机构的误差分析提供了有效的理论参考依据,对机构的应用分析具有重要的参考价值。
The output error of the mechanism determines the application performance. Based on the conversion relation between screw parameters and the transformation matrix,the joint clearance and link parameters which mainly affect the output error of the mechanism are equivalent to virtual screws. The 3-RRR planar parallel mechanism is divided into three four-bar mechanisms according to the symmetry topological structure. The error model of four-bar mechanism from input to output is established by using virtual screw. Matlab software is used to calculate and analyze the errors caused by three transmission drivers. The results show that the method is simple and effective, which provides effective theoretical basis for error analysis of various mechanisms and has important reference value for the application analysis of mechanisms.
作者
屈淑维
李瑞琴
郭志宏
QU Shuwei;LI Ruiqin;GUO Zhihong(College of Mechanical Engineering, North University of China, Taiyuan 030051 , China)
出处
《机械设计与研究》
CSCD
北大核心
2019年第2期60-62,68,共4页
Machine Design And Research
基金
先进制造技术山西省重点实验室开放基金资助(XJZZ201807)
