六自由度并联机构位姿调整灵敏度分析  

Sensitivity Analysis of Position and Pose Adjustment of 6DOF Parallel Mechanism

作　　者：谭爽[1] 王小勇[1] 林喆[1] 鄢南兴 

机构地区：[1]北京空间机电研究所,北京100094

出　　处：《航天返回与遥感》2015年第3期78-85,共8页Spacecraft Recovery & Remote Sensing

摘　　要：文章针对六自由度(6DOF)并联位姿调整机构,构建一种基于杆–台夹角的误差传递新模型,建立了位姿调整与杆长驱动控制间的对应关系,并基于对误差模型中传递矩阵的奇异值分解,提出位姿–杆长灵敏度分析方法。最终通过仿真验证了该方法的有效性。与传统方法相比,文章提出的方法运算更为简单,可快速得到机构的灵敏度特性,从而为六自由度并联机构构型设计及其杆长控制精度要求分析提供理论依据。Based on the angle between the struts and the platform, this paper constructs a new error transmission model for six-degree of freedom（6DOF） parallel mechanism. This model establishes relationship between the position adjustment and the drive control of struts Length. And then sensitivity analysis is adopted based on the singular value decomposition（SVD） of the transmission matrix of the error model. A simulation test is conducted to verify that both sensitivity and error range are qualified for both theoretical and practical use. Comparing with traditional methods, this method is more simple in operation, and can get the characteristics of sensitivity quickly and easily. This paper provides the theoretical basis for the design of mechanism structure and for the analysis of required control precision of its struts length.

关 键 词：并联机构 误差传递模型 灵敏度 蒙特卡洛法 反射镜装调 航天遥感 

分 类 号：TH132[机械工程—机械制造及自动化]