3UPS-PU并联机构的运动学误差建模与验证  

Modeling and Verification of Kinematics Error of 3UPS-PU Parallel Mechanism

作　　者：王娜 张涛[1] 王秋红[1] Wang Na;Zhang Tao;Wang Qiuhong(School of Mechanical Engineering,Anhui Electromechanical Vocational and Technical College,Wuhu 241000,China)

机构地区：[1]安徽机电职业技术学院机械工程学院,安徽芜湖241000

出　　处：《机械传动》2020年第7期113-118,共6页Journal of Mechanical Transmission

基　　金：安徽省省级示范实验实训中心项目(2015sxzx064)。

摘　　要：以探月工程采样封装专项实验平台3UPS-PU并联机构为研究对象,利用矩阵微分方法构建了机构的误差分析模型,结合体积误差和位姿误差中的单一元素,从宏观、微观两个方面分别验证了误差分析模型的正确性。运用误差分析模型对机构的单项误差进行分析,得到影响机构的主要误差因素,从而使并联机构在选取合适的零部件制造公差和装配等级方面有据可依。解决了3UPSPU并联机构误差分析相关的一系列问题,为机构的补偿提供可靠依据,同时,该方法也适用于类似机构的研究与分析。Taking the 3UPS-PU parallel mechanism,the experiment platform of sample package special test in the lunar exploration project as the study object,the error analysis model of 3UPS-PU parallel mechanism is established by using matrix differential method,which verified the correctness of the error analysis model from the macro to micro accordance with the volume error and single element of the pose error.And based on the results of single error analysis through the error model,the main error terms are analyzed,which could afford the reliable foundations for selection of parts manufacturing tolerances and its assembly levels.The method can not only solve a range of issues related to error analysis of 3UPS-PU parallel mechanism,but also apply to research and analysis of similar mechanism.

关 键 词：并联机构 构建 误差分析模型 验证 

分 类 号：TH112[机械工程—机械设计及理论]