一种三自由度并联机构误差分析与补偿  

Error analysis and compensation of a 3-DOF parallel mechanism

作　　者：张吉旺 宋胜涛[1] 李瑞琴[1] Zhang Jiwang;Song Shengtao;Li Ruiqin(School of Mechanical Engineering, North University of China, Shanxi Taiyuan, 030051, China)

机构地区：[1]中北大学机械工程学院,山西太原030051

出　　处：《机械设计与制造工程》2021年第1期21-24,共4页Machine Design and Manufacturing Engineering

基　　金：山西省青年科技研究基金资助项目(201801D221236)。

摘　　要：以一种三自由度并联机构为基础,分析其位姿误差并提出补偿误差的方法。首先根据并联机构的正解方程建立并联机构的误差模型,再根据误差模型对并联机构的位姿误差进行仿真分析,最后通过粒子群算法,在动平台、定平台和连杆的规定误差内找到合适的解,以补偿并联机构的位姿误差。通过分析可知,并联机构的位移误差对其位姿影响较大,转角误差影响较小。通过对位移误差的补偿,并联机构沿YA和ZA方向的误差显著降低。Based on a 3-DOF parallel mechanism,the pose error is analyzed and a method to compensate the error is proposed.Firstly,the error model of the parallel mechanism is established according to the positive solution equation of the parallel mechanism,and then the position and attitude error of the parallel mechanism is simulated and analyzed based on the error model.Finally,through the particle swarm optimization algorithm,the appropriate solution is found within the specified error of the moving platform,the fixed platform and the connecting rod,so as to compensate the pose error of the parallel mechanism.The analysis shows that the displacement error of the parallel mechanism has a great influence on its position and posture,and the angle error has little influence on it.By compensating the displacement error,the error of the parallel mechanism along the YA and ZA direction are significantly reduced.

关 键 词：并联机构 误差建模 误差分析 误差补偿 粒子群算法 

分 类 号：TH112[机械工程—机械设计及理论]