精密剪叉升降机构的设计与精度分析

Design and Accuracy Analysis of a Kind of Precision Scissor Lifting Mechanism

针对自动装配机器人的升降平台安装空间大、承载性能差和位移精度低的问题,从运动的稳定性及精度出发,设计了一种精密剪叉升降机构。进行结构设计,建立了剪叉机构升降运动学及误差分析模型,使用MATLAB分析了升降平台位移与电机转角关系。利用微分原理求解了剪叉升降机构的位移误差模型并进行了误差合成与分配,得到了对升降平台输出位移误差因素影响大小排序为δ_(S)、δ_(K)、δ_(L)、δ_(φ)。经样机试验及精度检测,证明所设计的剪叉升降机构位移精度等性能均能满足设计要求。

Aiming at the currently problems of large installation space,poor bearing performance and low displacement accuracy of the lifting platform used for automatic assembly robot,a kind of precision scissor lifting mechanism was proposed based on the motion stability and precision.The structural design is carried out,the lifting kinematics and error model of the scissor mechanism are established,and the relationship between the displacement of the lifting platform and the rotation angle of the motor is analyzed using MATLAB.The displacement error model of the scissor lifting mechanism is solved by using the differential principle,and the error is synthesized and distributed,and the factors affecting the output displacement error of the lifting platform are obtained as follows:δ_(S)、δ_(K)、δ_(L)、δ_(φ).The prototype test and precision detection results show that the designed displacement accuracy of the scissor lift mechanism meet the design requirements.