并联机床铰链制造误差的补偿  

Compensation for joint manufacturing errors in parallel kinematic machines

作　　者：高猛[1] 李铁民[1] 郑浩峻[1] 汪劲松[1] 

机构地区：[1]清华大学精密仪器与机械学系,北京100084

出　　处：《清华大学学报（自然科学版）》2003年第5期617-620,共4页Journal of Tsinghua University(Science and Technology)

基　　金：国家"九七三"重点基础研究项目(G1998030607)

摘　　要：为减小铰链制造误差,提高并联机床运动精度,以六自由度并联机床XNZ63为结构模型,分析了铰链的各种制造误差。利用Denavit-Hartenberg(D-H)方法,建立包含铰链制造误差的运动学方程,通过仿真计算得到工作空间内铰链制造误差对终端运动精度的影响规律。将铰链制造误差映射为驱动轴长度误差,并据此开发出误差实时补偿算法。仿真表明:在测量扰动为0.01mm时该算法仍可补偿约80%的误差影响,补偿每个位姿点仅耗时0.3ms左右,符合数控系统实时性要求,为含有同类铰链的并联机床提供了高效通用的铰链制造误差补偿算法。Joint manufacturing errors affect the accuracy of parallel kinematic machines (PKMs). A method was developed to analyze the joint manufacturing errors using an XNZ63 PKM with 6 degrees of freedom as an example. The DenavitHartenberg (DH) method was used with every platform link analyzed as a jointlink train to model the joint manufacturing errors. The simulation analyzed the error distribution in the workspace with an algorithm developed to compensate for these errors. The algorithm could compensate for about 80% of the error effects for a measurement disturbance of 0.01 mm. The algorithm can be used for realtime control since it took less than 0.3 ms to calculate each position point. The algorithm is an effective method for compensating for errors in PKMs having the same joints.

关 键 词：并联机床 铰链制造误差 误差分析 误差补偿 驱动轴长度误差 

分 类 号：TG659[金属学及工艺—金属切削加工及机床] TH161[机械工程—机械制造及自动化]