基于混合驱动的A/C双摆头及主轴系统误差建模与灵敏度分析  

Error Modelling and Sensitivity Analysis of A/C Bi-rotary Head and Spindle System Based on Hybrid Drive

作　　者：李修广 岳义 韦宝琛 张展魁 许朝阳 LI Xiuguang;YUE Yi;WEI Baochen;ZHANG Zhankui;XU Zhaoyang(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海201620

出　　处：《机床与液压》2025年第3期27-33,共7页Machine Tool & Hydraulics

基　　金：国家自然科学基金青年科学基金项目(51905337);上海市地方院校能力建设项目(22010501700)。

摘　　要：提出一种可适用于五自由度混联机器人重载应用的高刚度质量比A/C双摆头机构,该机构的C轴采用力矩电机驱动,A轴采用伺服电机驱动。采用多体系统理论以及坐标变换理论,研究新型A/C双摆头和主轴系统的三轴系统误差模型;在此基础上,运用Sobol灵敏度分析方法,分别求解了该机构的一阶灵敏度指数和综合灵敏度指数,通过分析各项几何误差源对末端刀具指向精度的影响,识别出关键几何误差源,为A/C双摆头的误差分配以及精度设计奠定了理论基础。A high stiffness-to-mass ratio A/C bi-rotary head mechanism,suitable for heavy-load applications in five-degree-of-freedom hybrid robots,was proposed.In this mechanism,the C-axis was driven by a torque motor,while the A-axis was driven by a servo motor.Utilizing the theories of multi-body systems and coordinate transformation,a three-axis system error model of the novel A/C bi-rotary head and spindle system was studied.On this basis,the Sobol sensitivity analysis method was employed to calculate both the first-order and total sensitivity indices of the mechanism.By analyzing the impact of various geometric error sources on the end-tool's directional accuracy,key geometric error sources were identified.This laid a theoretical foundation for error allocation and precision design of the A/C bi-rotary head.

关 键 词：A/C双摆头 多体系统理论 误差模型 Sobol灵敏度分析 

分 类 号：TG659[金属学及工艺—金属切削加工及机床]