Error modeling, sensitivity analysis and assembly process of a class of 3-DOF parallel kinematic machines with parallelogram struts  

作　　者：黄田 李亚 唐国宝 李思维 赵兴玉 David.J.Whitehouse Derek G.Chetewyn Xianping Liu 

机构地区：School of Mechanical Engineering, Tianjin University, Tianjin 300072, China[1] School of Engineering, University of Warwick, Coventry CV4 7AL, UK[2]

出　　处：《Science China(Technological Sciences)》2002年第5期467-476,共10页中国科学（技术科学英文版）

基　　金：This work was supported by the National Natural Science Foundation of China (Grant No.50075006) the Royal Society UK-China Joint Research Grant and Tianjin Scientce and Technology Commission(Grant No.003802111).

摘　　要：This paper presents an error modeling methodology that enables the tolerance design, assembly and kinematic calibration of a class of 3-DOF parallel kinematic machines with parallelogram struts to be integrated into a unified framework. The error mapping function is formulated to identify the source errors affecting the uncompensable pose error. The sensitivity analysis in the sense of statistics is also carried out to investigate the influences of source errors on the pose accuracy. An assembly process that can effectively minimize the uncompensable pose error is proposed as one of the results of this investigation.This paper presents an error modeling methodology that enables the tolerance design, assembly and kinematic calibration of a class of 3-DOF parallel kinematic machines with parallelogram struts to be integrated into a unified framework. The error mapping function is formulated to identify the source errors affecting the uncompensable pose error. The sensitivity analysis in the sense of statistics is also carried out to investigate the influences of source errors on the pose accuracy. An assembly process that can effectively minimize the uncompensable pose error is proposed as one of the results of this investigation.

关 键 词：parallel KINEMATIC machine  ERROR modeling  sensitivity analysis  assembly process. 

分 类 号：O327[理学—一般力学与力学基础]