6-UPS并联机床误差分布特性  

Distribution of Position and Orientation Errors for a 6-UPS Parallel Machine Tool

作　　者：陈小岗[1,2] 孙宇[1] 吴海兵[2] 刘远伟[2] 

机构地区：[1]南京理工大学,南京210094 [2]淮阴工学院,淮安223003

出　　处：《中国机械工程》2014年第2期179-185,共7页China Mechanical Engineering

基　　金：江苏省高校自然科学基础研究项目(12KJA460001;12KJB460001);江苏省数字化制造技术重点建设实验室开放基金资助项目(HGDML-0607);淮阴工学院科研基金资助项目(HGC1016)

摘　　要：为确定6-UPS交叉杆式Stewart型并联机床BJ-04-02(A)的加工精度特性,运用逆向思维方式,从刀具平台发生给定位置误差、姿态误差时驱动杆长度的变化中获得机床精度信息。计算了工作空间内各位置点、各姿态下刀具平台发生给定位置误差、姿态误差时驱动杆长度的变化量;通过极值、倒数等运算,获得了单位杆长误差引起的刀具平台位置、姿态误差的上下限,并给出了位姿误差在工作空间内的分布特性。A forward kinematics analysis for Stewart mechanism was extremely difficult, so the er- ror analysis can not be carried out easily because it depended on forward kinematics solutions. To esti- mate the manufacturing accuracy of 6--UPS parallel machine tool BJ--04--02（A）, which adopted a cross--link variation of Stewart mechanism as feeding mechanism, the principle of reverse thinking was adopted,thus the accuracy can be reflected by the change of link length for given pose（position and orientation） errors of cutter--platform. For each position point and orientation in workspace, the length changes of six actuating links were calculated for given pose errors of cutter--platform. Then the pose error limits of cutter--platform caused by link length unit error were obtained by extremum and reciprocal calculation. Finally the distributions of pose errors in workspace were provided.

关 键 词：STEWART 并联机构 并联机床 精度 误差 分布 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP391[自动化与计算机技术—控制科学与工程]