3-TPT型并联机床的精度分析与仿真  

Accuracy Analysis and Simulation of 3-TPT Parallel Machine Tool

作　　者：何雪浤[1] 张敏[1] 谢里阳[1] 左扣成 

机构地区：[1]东北大学,沈阳110004 [2]帝国理工大学,伦敦SW7,2AZ

出　　处：《中国机械工程》2008年第11期1336-1339,共4页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(50275025)

摘　　要：为提高3-TPT型并联机床的运动精度，解决杆长误差和铰链间隙误差的影响问题，将3-TPT型并联机床的各条支链作为假想的单开链，利用矩阵法结合从运动学方程微分得到的结论，推导出杆长误差和铰链间隙误差与终端动平台位置误差的映射关系。以东北大学研制的3-TPT型并联机床为模型，在MATLAB下利用蒙特卡洛方法分析了工作空间内杆长误差和铰链间隙误差对终端运动精度的影响规律。仿真结果表明，该机床的终端输出误差较小，约为输入误差的1／15～1／12．5，基于该构型的试验平台可达到较高的运动精度。Legs＇ and joint-clearances＇ effects were analyzed to improve the accuracy of 3-TPT parallel machine tool. Every link in the platform was treated as a joint-link train. The mapping from the errors of legs and joint-clearances to the accuracy of terminal was achieved by using matrix method with the differential of kinematic function. Based on a real 3-TPT parallel machine tool developed by Northeastern University, the effects of legs and joint-clearances on the accuracy of terminal in the workspace were analyzed using Monte-Carlo method. The analytical result can provide theoretical foundation for the error compensation of parallel machine tool. The simulation indicates that the terminal errors of this machine are quite small, about 1/15- 1/12.5 of the input errors, and the test platform based on this parallel mechanism can achieve higher kinematic accuracy.

关 键 词：3-TPT并联机床 精度分析 杆长误差 铰链间隙误差 蒙特卡洛模拟 

分 类 号：TH112[机械工程—机械设计及理论]