改进型Delta并联机构误差建模及灵敏度分析  

Error modeling and sensitivity analysis of modified Delta parallel mechanism

作　　者：徐东涛[1] 朱成之 刘靖强 李颖 刘月娟 XU Dongtao;ZHU Chengzhi;LIU Jingqiang;LI Ying;LIU Yuejuan(School of Mechanical Engineering&Automation,University of Science and Technology Liaoning,Anshan 114051,Liaoning,China)

机构地区：[1]辽宁科技大学机械工程与自动化学院,辽宁鞍山114051

出　　处：《中国工程机械学报》2023年第3期189-193,198,共6页Chinese Journal of Construction Machinery

基　　金：辽宁省教育厅项目(LJKZ0299)。

摘　　要：以改进型Delta并联机构为研究对象,为提高其动平台中心处末端执行器的位置精度和探究各种误差源对位姿误差的影响程度,采用矢量法建立机构的运动链矢量方程,通过对该方程中变量进行一阶线性摄动,从而构建该机构各种尺寸和姿态误差与机构末端执行器位姿误差的误差映射模型;通过对建立的误差映射模型进行灵敏度分析,可以利用具体数值直观地衡量各个误差源对机构末端位姿误差的影响程度。此研究成果对该机构的运动位置精度设计有指导意义。分析表明,主动臂的姿态误差对机构末端执行器误差影响较大,而构件的杆长误差对机构运动精度影响较小。In this paper,a modified Delta parallel mechanism is taken as the research object.To improve the position accuracy of the end actuator and explore the influence of various error sources on motion error,the motion vector equation of the mechanism is established by using the vector method,and the first-order linear perturbation is carried out on the equation,and the mapping function model between the pose error of the end-effector and the geometric error sources of the mechanism is constructed.Through the sensitivity analysis of the established error function model,the impact of each error source on the end pose error of the mechanism is intuitively judged by specific sensitivity parameters.This research result is of guiding significance to the design of motion position accuracy of the mechanism.The analysis shows that the attitude error of the active arm has a great influence on the actuator error of the mechanism.

关 键 词：改进型Delta并联机构 误差模型 位姿误差 矢量法 误差灵敏度分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]