RR-P5R型全球面工作空间解耦并联机构误差分析  

Error Analysis for RR-P5R Decoupled Parallel Mechanism with Fully Spherical Workspace

作　　者：于珊珊 李为民[1] 杨先海[2] YU Shanshan;LI Weimin;YANG Xianhai(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300130,China;School of Mechanical Engineering,Shandong University of Technology,Zibo 255000,Shandong,China)

机构地区：[1]河北工业大学机械工程学院,天津300130 [2]山东理工大学机械工程学院,山东淄博255000

出　　处：《济南大学学报（自然科学版）》2021年第2期102-107,共6页Journal of University of Jinan(Science and Technology)

基　　金：国家自然科学基金项目(51905316)。

摘　　要：针对二自由度球面解耦并联机构工作空间不足的问题,提出一种新型P5R运动支链,基于该运动支链设计RR-P5R型全球面工作空间解耦并联机构;采用环路增量法对RR-P5R型并联机构进行误差分析,建立位置、速度、加速度误差模型。结果表明,该RR-P5R型并联机构可以实现完整的球面工作空间,所建立的误差模型可以作为机构的参数设计、控制以及误差补偿的理论基础。Aiming at the problem of insufficient workspaces of spherical decoupled parallel mechanisms with two-degree of freedom,a new P5R kinematic chain was proposed.Based on the kinematic chain,RR-P5R decoupled parallel mechan-ism with a fully spherical workspace was designed.Using loop increment method,error analysis for RR-P5R parallel mechanism was carried out.The error model of position,speed,and acceleration was established.The results show that the RR-P5R parallel mechanism can form a fully spherical workspace.The established error model provides theoretical basis for parameter design,control,and error compensation of the mechanism.

关 键 词：并联机构 球面并联机构 误差分析 全球面工作空间 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]