三平动冗余驱动并联机床误差分析及标定方法的研究  

Study on Error Analysis and Calibration Method for Parallel Machine Tool with Three Translational DOF Redundant Drive

作　　者：丁高鹏 李开明[1] DING Gaopeng;LI Kaiming(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing Jiangsu 210094,China)

机构地区：[1]南京理工大学机械工程学院,江苏南京210094

出　　处：《机床与液压》2018年第21期24-28,共5页Machine Tool & Hydraulics

基　　金：江苏省科技支撑计划--工业部分资助项目(BE2011193)

摘　　要：以三平动非对称冗余驱动(3-2SPS)并联机床为研究对象,对该机构进行运行学分析,在此基础上以矢量微分法建立包括球铰铰链点、伸缩杆杆长、冗余线性模组的位置和方向向量在内的48个结构参数的误差雅可比矩阵,并在MATLAB中计算得到各误差源对机床动平台末端位姿的影响。建立基于运动学逆解的标定模型,并用Gauss-Newton非线性最小二乘法求解出机构48个结构参数的实际值,通过MATLAB仿真验证了标定算法的有效性。研究结果为3-2SPS非对称冗余驱动并联机构的实际应用提供了理论依据。Taking the three translational degree of freedom and asymmetrical （ 3-2SPS） parallel machine tool with a redundant drive as a research object, the kinematics analysis for the mechanism was done.On the basis of this, the error Jacobian matrix of 48 structural parameters, including the hinge point of the spherical hinge, the length of the telescopic rod, the position and the direction vector of the redundant linear module, was established by using the vector differential method. The influence of each error source on the pose of moving platform was obtained by MATLAB tool. Then, the calibration model based on inverse kinematics theory was established. Meanwhile, the actual values of 48 structural parameters of the mechanism were solved by using Gauss-Newton nonlinear least square method. Finally, the validity of the calibration algorithm was verified by MATLAB simulation. The results provide a theoretical basis for the practical application of three translational degree of freedom and asymmetrical （3-2SPS） parallel machine tool with a redundant drive.

关 键 词：并联机床 误差模型 运动学标定 最小二乘法 

分 类 号：TH112[机械工程—机械设计及理论]