考虑并联机构结构参数误差的控制模型研究  

Kinematics Analysis and Control Model Research on Parallel Machines

作　　者：邢登鹏[1] 倪雁冰[1] 

机构地区：[1]天津大学机械工程学院,天津300072

出　　处：《组合机床与自动化加工技术》2006年第3期53-55,共3页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：天津市自然科学基金资助(033603011)

摘　　要：文章以一三平动自由度并联机构为研究对象,有效解决了因理论模型控制实际机构引起的空间层面不对称的问题,进而提高了系统的控制精度。首先建立了坐标系和分析误差源,在此基础上借助空间矢量链分析方法,推导了含误差参数机构控制的正、逆解模型,有效地解决了因立柱导轨垂直度误差引起的机构误差问题。仿真结果验证了模型的正确性,研究成果已应用此类机构的开发中。Based on the theory of a class of 3-DOF parallel kinematic machines and using vector analytical method, this paper presents the forward and inverse control model with 18 error parameters. Computer simulation is proposed, and its result shows that the position control model with 18 parameters is able to solve successfully the machine error problem produced by the vertical error of guid eway, promote the control accuracy of machine and satisfy system control requirement. The research product is applied to this kind of machine.

关 键 词：并联机构 误差参数 正 逆解模型 垂直度误差 

分 类 号：TG659[金属学及工艺—金属切削加工及机床]