带有约束的3-TPS并联机床位姿误差分析  

Pose Error Analysis of 3-TPS Parallel Kinematics Machine with Constraint Mechanism

作　　者：房立金[1] 党鹏飞[1] 

机构地区：[1]东北大学机械工程与自动化学院,沈阳110819

出　　处：《机械工程学报》2013年第1期8-14,共7页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(60875082)

摘　　要：针对并联机床运动副数量多,结构复杂,误差分析难度大等问题,以一种带有约束机构的3-TPS并联机床为研究参考,将并联机构部分和约束机构部分分别进行建模,研究单一几何误差对末端位置的影响,并用蒙特卡洛法对多个误差源进行统计分析,结果表明来自约束机构部分的误差源对末端位置误差的影响更为明显。Parallel kinematics machine （PKM） has a relatively complicated structure which contains many kinematical pairs, how to realize its error analysis is currently a problem of PKM. Based on the 3-TPS PKM with constraint mechanism, the pose error models of parallel mechanism and constraint mechanism are separately established. The pose error caused by single geometrical error source is calculated. By using Monte-Carlo method, the statistic effect of geometrical error sources in either mechanism is analyzed. The analysis indicates that the geometrical error sources in constraint mechanism affect more on the pose of machine tool end.

关 键 词：位姿误差 混联机构 约束机构 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]