Stewart平台铰链间隙的精度分析  

Accuracy analysis of joint-clearances in a Stewart platform

作　　者：汪劲松[1] 白杰文[1] 高猛[1] 郑浩峻[1] 李铁民[1] 

机构地区：[1]清华大学精密仪器与机械学系,北京100084

出　　处：《清华大学学报（自然科学版）》2002年第6期758-761,共4页Journal of Tsinghua University(Science and Technology)

基　　金：国家"九七三"重点基础研究项目 ( G19980 30 6 0 7)

摘　　要：为提高 Stewart平台的运动精度 ,解决铰链间隙误差的影响问题 ,将 Stewart平台的各条支链作为假想的单开链 ,利用串联机器人运动学中的 D- H(Denavit- Hartenberg)方法 ,结合从运动学方程微分得到的结论 ,推导出终端运动误差和铰链间隙误差间的映射关系。并且以一台基于 Stew-art平台的并联机床为模型 ,利用仿真计算 ,分析了工作空间内间隙误差对终端运动精度的影响规律 。Joint-clearance effects were analyzed to improve the accuracy of the Stewart platform. Every link in the platform was treated as a joint-link train. The mapping from the clearances to the accuracy was achieved using the D-H (Denavit-Hartenberg) convention with the kinematic function differential. From a real Parallel-Kinematic Machine tool based on the Stewart platform, the simulation results showed the effects of the clearances on the accuracy in the workspace. The analysis provides the theoretical foundation for joint clearance compensation for Parallel-Kinematic Machine tools.

关 键 词：STEWART平台 铰链间隙 精度分析 机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]