一种两自由度球面解耦并联机构位姿误差分析  

Posture error analysis on a kind of parallel mechanism with two DOF spherical surfaced decoupling

作　　者：曲云霞[1] 杨少辉[1] 秦玉霞[1] 李为民[1] 范顺成[1] 

机构地区：[1]河北工业大学机械工程学院,天津300130

出　　处：《机械设计》2008年第8期36-38,共3页Journal of Machine Design

基　　金：国家自然科学基金资助项目(50475055)

摘　　要：以一种全转动副的新型球面并联解耦机构为对象,利用空间机构的环路增量法建立了该机构的系统误差模型。应用此模型可定量分析结构误差对动平台位姿误差的影响,为实际误差补偿和控制提供了理论基础,对其他并联机构的误差研究也有借鉴意义。Taking the new typed spherical parallel decoupling mechanism of a kind of complete turning pair as an object, the sys-tematic error model of this mechanism was established by the use of loop circuit incremental method of spatial mechanism. Utilizing this model the influence of structural error on the posture error of moving platform can be analyzed quantitatively, thus provided theoretical basis for the actual error compensation and control, and possesses referential significance for the error study of other parallel mechanisms.

关 键 词：误差模型 精度分析 环路增量法 球面并联机构 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]