关节间隙对并联机床精度的影响规律研究  

Research on Influence of Joint-clearance on Parallel Machine Tool’s Precision

作　　者：王海军[1] 王君英[1] 

机构地区：[1]清华大学,北京100084

出　　处：《中国机械工程》2007年第4期471-475,共5页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(50275084)

摘　　要：由于关节间隙的存在,并联机构末端执行器经常会产生一些运动误差,这些误差的大小与关节间隙的大小、关节位置和机构姿态都有关系。对某四自由度混并联机床进行了运动学分析,在ADAMS软件中建立了该机床并联机构的虚拟样机,采用接触力方式定义了机构关节间的传动关系,通过运动仿真研究了部分关节间隙对机构运动精度的影响规律,验证了方法的可行性。Due to clearances in their joints, parallel mechanism always exhibits some kinematic errors at the end effector. The amount of error depends on the amount of joint-clearance, the joint position, and the pose of the manipulator. The kinematic analysis of a 4-DOF hybrid machine tool was studied, a virtual prototyping of the parallel mechanism was established in ADAMS/View,and a kind of transmission-contact force between the joint of mechanism parts was presented. The regularity of influence was obtained through a kinematic simulation when the mechanism has several joint-clearances. The results show that this method is suitable to analyze this kind of problems.

关 键 词：运动学分析 关节间隙 接触力 运动仿真 

分 类 号：TH113[机械工程—机械设计及理论]