微动工作台线性化精度评价方法研究  

Research on Linear Accuracy Evaluation Method of a Micro-manipulation Platform

作　　者：叶鑫[1] 张之敬[1] 王强[1] 孙媛[1] 

机构地区：[1]北京理工大学机械与车辆工程学院,北京100081

出　　处：《兵工学报》2008年第6期741-745,共5页Acta Armamentarii

基　　金：高等学校博士点学科专项基金项目(20060007023);高等学校学科创新引智计划项目(B08043)

摘　　要：并联微动工作台广泛应用于高精度场合。目前,微动工作台还沿用传统并联机构的精度分析方法,这些方法在应用中无法全面定量地反映出微动工作台的精度,因此有必要对其精度分析和评价方法进行研究。具体以一种六自由度微动工作台为例,利用微分方法得到了输入输出位姿的显示雅克比矩阵,并对线性化方法的精度进行验证。提出了精度系数的概念,利用精度系数判断机器人在应用范围内各种条件下是否会影响其运动精度。误差仿真算例显示该方法是可行的。Abstract： The parallel micro-motion platform is widely used in high-precision applications. Considering that some accuracy analysis methods of traditional parallel mechanisms, which can not quantificationally reflect the accuracy of micro-motion platforms overall, are still used in micro-motion area, it is necessary to discuss the issue in detail. To specify it, taking a 6-DOF micro-motion platform for instance, the Jacobi matrix of the input and output poses was obtained by the validated differential method. The concept of accuracy coefficient was proposed, by which the pose accuracy of the platform in its workspace can be estimated. The error simulation example indicates that the accuracy analysis method is doable.

关 键 词：机械学 柔性铰链 微动工作台 线性化 精度系数 

分 类 号：TH115[机械工程—机械设计及理论]