新型2UPR/UPS/UP 机构的误差模型与几何误差灵敏度仿真

Error model and geometric error sensitivity simulation of new 2UPR/UPS/UP mechanism

研究推导2UPR/UPS/UP+AC摆混联机构的解析反解,并以2UPR/UPS/UP为研究对象,系统阐述单关节误差模型和支链误差模型,并给出相关的几何误差源;建立被动误差、动平台位姿误差与各支链运动副误差源之间的误差映射模型,并基于机构误差模型进行各运动副误差源的误差灵敏度仿真分析.研究成果可为基于2UPR/UPS/UP并联机构的五自由度混联机器人工程设计提供运动副误差分配及精度设计的理论支撑,同时为其他混并联机构的误差建模和灵敏度分析提供借鉴.

The analytical inverse solution of 2UPR/UPS/UP+AC pendulum hybrid mechanism was derived.With 2UPR/UPS/UP mechanism as the research object,the single-joint error model and branched-chain error model were systematically expounded,and the related geometric error sources were given.The error mapping models among the passive error,the pose error of the moving platform and the error sources of the motion pairs of each branch chain were established,and the error sensitivity of the error sources of each motion pair was simulated based on the mechanism error model.The research results can provide theoretical support for motion error distribution and precision design of 5-DOF hybrid robot engineering design based on 2UPR/UPS/UP parallel mechanism,as well as reference for error modeling and sensitivity analysis of other hybrid mechanisms and parallel mechanisms.