基于灵敏度的六自由度并联机构误差分配方法  

Error Distribution for Six Degree-of-Freedom Parallel Mechanism Based on Sensitivity

作　　者：谭爽[1] 梁凤超[1] 陈龙[1] 林喆[1] 康建兵[1] TAN Shuang;LIANG Fengchao;CHEN Long;LIN Zhe;KANG Jianbing(Beijing Institute of Space Mechanics&Electricity,Beijing 100090,China)

机构地区：[1]北京空间机电研究所,北京100090

出　　处：《实验室研究与探索》2021年第4期27-31,共5页Research and Exploration In Laboratory

基　　金：国家重点研发计划项目(2016YFB0500501)。

摘　　要：为提高六自由度并联机构的精度,确保高质量成像,研究了动平台位姿误差与铰链铰点位置误差之间的关系,提出了铰点误差分配方法。用微分法推导出六自由度并联机构的误差模型,对误差传递矩阵进行奇异值分解,奇异值最大值可表示误差传递的灵敏度,据此给出了基于灵敏度的铰点位置误差分配方法。以某大口径光学遥感器次镜调整装置为例,当给出位姿允许误差时,根据误差分配方法求出了铰点分配误差,铰链加工与安装误差在不超过求出的铰点分配误差时,能够保证该次镜调整装置的精度。In order to improve the precision of 6-DOF parallel mechanism and ensurehigh quality of image,the relationship between pose error of moving platform and position error of joint points is studied,and the error distribution of joint points is put forward.Firstly,the error model of 6-DOF parallel mechanism is built by differentiation.Then,the singular value of the error transfer matrix is performed.The maximum singular value of the error matrix canrepresent the sensitivity of joint points’position error of 6-DOF parallel mechanism.Finally,the error distribution method is given based on sensitivity.Taking a secondary mirror adjustment device of a large aperture optical remote sensor as an example,when pose error is given,the joint points error is calculated by the distribution method.When the joint machining and installation errors do not exceed the calculated joint point distribution error,the precision of the secondary mirror adjustment device canbe guaranteed.

关 键 词：铰点误差 位姿误差 灵敏度 并联机构 

分 类 号：TH115[机械工程—机械设计及理论]