精密球铰链运动误差分布研究

Research on motion error distribution of precision ball joint

精密球铰链间隙影响装备的工作精度,为更好地实现球铰链间隙的检测和运动误差补偿,该文在研发间隙的测量方法的基础上,深入探究球铰链间隙变化规律。该文采用电涡流传感器阵列测量监测球铰链间隙变化,在建立测量模型的基础上完成样机的研发,在球头分别加载30 kPa和42 kPa的气压模拟球铰链受力状态,通过分析和总结实验测试数据的规律,归纳出球铰链间隙分布特点。在所受载荷不变的条件下,球铰链间隙与其在空间的回转方位和回转角度密切相关,在0.05置信水平上,其间隙服从关于二维角度分量的二维正态分布,该实验结果对实现球铰链运动误差补偿和修正,提高装备的运动控制精度具有一定的参考意义。

The precision spherical joint clearance influences the working accuracy of the equipment.In order to better realize the detection of ball joint clearance and compensation of motion error,this paper explores the ball joint clearance variation law in depth based on the development of the measurement method of clearance.In this study,the eddy current sensor array is used to measure the variation of the ball hinge clearance in real time,and the prototype is developed on the basis of established measurement model.The ball hinge is loaded with air pressure at 30 kPa and 42 kPa respectively to simulate the force state of the ball hinge.By analyzing and summarizing the law of the experimental test data,the distribution characteristics of the ball joint clearance are obtained.Under the condition of constant load,the spherical joint clearance is closely related to its rotation azimuth and rotation angle in space,and at 0.05 confidence level,its clearance follows two-dimensional normal distribution about the two-dimensional angle component.The experimental results are of certain reference significance to realize the motion error compensation and correction of the ball hinge and improve the motion control accuracy of the equipment.