用于光电产品检测的混联6-dof平台的误差分析与仿真  

Error Analysis and Simulation for 6-dof Hybrid Mechanisms Used for Inspection of Optical Products

作　　者：邓嘉鸣[1] 沈惠平[1] 王玮[1] 李菊[1] 丁少华 

机构地区：[1]常州大学机器人研究所,江苏常州213164 [2]常州视觉龙机电设备有限公司,江苏常州213016

出　　处：《机械设计与研究》2016年第3期19-25,共7页Machine Design And Research

基　　金：国家自然科学基金资助项目(51375062);江苏省产学研联合创新资金-前瞻性联合研究项目(BY2014037-16)

摘　　要：提出了一种滑块式6-dof光电产品检测平台机构,以运动学正解模型为基础,依据矩阵全微分理论,导出机构位姿误差与各杆长误差、铰链位置误差、输入误差之间的关系,从而建立机构的误差模型;应用Matlab对误差模型进行仿真,分析得出杆长误差、铰链位置误差和输入误差对机构综合精度的影响,为该6-dof混联型光电产品检测平台的设计、制造提供了理论基础。A novel 6 - dof hybrid mechanisms used for inspection of optical products is put forward in this paper. Based on the positive solutions of kinematics and total differential matrix theory, the relations among position error, length error, joint error and control error are carried out, and then the error model is obtained. The influences of these errors are given using Matlab simulation. This paper provides a solid foundation of design, manufacture and control for this 6 - dof inspection platform.

关 键 词：光电产品检测平台 混联机构 误差分析 

分 类 号：TH112[机械工程—机械设计及理论]