受控机构实现轨迹的运动误差研究  

Study on the Motive Error of Controlled Mechanism Given Track

作　　者：杨金堂[1] 孔建益[1] 

机构地区：[1]武汉科技大学,湖北武汉430070

出　　处：《机械传动》2003年第1期20-23,共4页Journal of Mechanical Transmission

基　　金：武汉市科委资助 :国际合作项目 1 32 0 0 1 70 1 0 1 2

摘　　要：刚性受控五杆机构实现给定轨迹因结构参数误差引起的运动误差 ,以受控原动件运动误差最小为目标 ,采用最小范数法确定刚性受控五杆机构各杆结构参数误差 ;在此基础上 ,进一步分析受控原动件运动误差变动与实现给定轨迹误差间的关系 ,为受控原动件的选择提供重要的依据。In this paper, the rigid controlled 5-bar mechanism implements the given track, Because of the motive error caused by structural parameter errors, it adopts minimum norm method to confirm structural parameter errors of per pole of the rigid controlled 5-bar mechanism in order to realize minimizing motive errors of driving component. In addition, the relation between error changes of controlled driving component and given track errors is also analyzed. It provides an important foundation for choosing controlled driving component.

关 键 词：受控机构 运动误差 受控原动件 最小范数 机构综合 

分 类 号：TH112[机械工程—机械设计及理论]