Delta并联机械手几何误差建模及灵敏度分析  

Error modeling and sensitivity analysis of Delta robot

作　　者：郑辉[1] 唐国宝[2] 

机构地区：[1]天津科技大学机械工程学院,天津300222 [2]天津707研究所,天津300131

出　　处：《哈尔滨工业大学学报》2009年第7期252-255,共4页Journal of Harbin Institute of Technology

摘　　要：以一类含平行四边形支链的Delta并联机械手为对象,利用空间矢量链分析方法,构造出机构末端位置和姿态误差与几何误差之间的映射关系,明确揭示出影响机构末端不可补偿误差的几何误差源,并借助灵敏度分析定量揭示几何误差对末端位姿误差的影响.研究成果对指导同类装备的设计与制造具有普遍的意义.This paper presents an error modeling methodology that enables the tolerance design and kinematic calibration of a class of parallel kinematic machines with parallelogram struts to be integrated into a unified framework. The error mapping function is formulated to identify the source errors affecting the uncompensable pose errors. The sensitivity analysis is also carried out to investigate the influences of source errors on the pose accuracy. This study provides references for the design and manufacture of machines with similar structure.

关 键 词：并联机构 误差建模 灵敏度分析 

分 类 号：TH112[机械工程—机械设计及理论]