一种大摆角五轴联动混联机床并联模块的误差分析
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摘要
为提高大摆角五轴联动混联机床的运动精度,解决杆长误差以及铰链间隙误差的影响问题,将该机床并联模块的各条运动支链作为假想的单开链,采用误差独立作用原理建立并联模块的误差模型,利用微分法推导出杆长误差、铰链间隙产生的位置误差与机床动平台位置误差的映射关系。然后采用MATLAB软件对误差影响因子对机床动平台运动精度的影响规律进行仿真分析。由仿真结果看出,该机床动平台的输出误差处于合理范围,误差影响因子对机床运动精度影响不大,该误差模型的建立为进一步优化机构设计及误差补偿奠定了基础。
To improve the kinematic precision of the five-axis linkage parallel hybrid kinematics machine with large pendulum angle,the error precision analysis is implemented considering the linkage length error and joint clearance error. The error model of the parallel module was established by using the independent effect principle of error,regarding each kinematic chain as a hypothetical single opened chain. The mapping relation from the errors of linkages and joint-clearances to the accuracy of the moving platform was acquired for the machine tool. The effect of the error factors on the motion accuracy of the moving platform is analysed and simulated using MATLAB software. The simulation results show that the output errors of the moving platform are within a reasonable range and there is little effect on its kinematics accuracy. The error model established lays the foundation for further optimization of mechanism design and error compensation.
To improve the kinematic precision of the five-axis linkage parallel hybrid kinematics machine with large pendulum angle,the error precision analysis is implemented considering the linkage length error and joint clearance error. The error model of the parallel module was established by using the independent effect principle of error,regarding each kinematic chain as a hypothetical single opened chain. The mapping relation from the errors of linkages and joint-clearances to the accuracy of the moving platform was acquired for the machine tool. The effect of the error factors on the motion accuracy of the moving platform is analysed and simulated using MATLAB software. The simulation results show that the output errors of the moving platform are within a reasonable range and there is little effect on its kinematics accuracy. The error model established lays the foundation for further optimization of mechanism design and error compensation.
引文
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[13]汪劲松,白杰文,高猛,等.Stewart平台铰链间隙的精度分析[J].清华大学学报:自然科学版,2002,42(6):758-761.
[14]HUANG T,DAVID J.A simple effective approach for error compensation of a tripod based parallel kinematic machine[J].Annals of the CIRP,2000,49(1):285-288.
[15]蔡飞跃.3-PUU并联机构运动学和动力学研究[D].南京:南京航空航天大学,2010.
[2]CAI G Q.Development and study of a new kind of 3-DOF tripod[J].Annals of the CIRP,1999,48(1):225-228.
[3]胡明,田文元,蔡光起.并联机床驱动杆铰链位置误差分析[J].东北大学学报:自然科学版,2007,28(3):389-392.
[4]覃艳明,张一同,鹿玲,等.5-UPS/PRPU五自由度并联机床精度分析[J].机械设计与研究,2004,20(4):12-14.
[5]李兴山,蔡光起.三自由度混联机床的机构误差分析与仿真[J].组合机床与自动化加工技术,2011,(3):19-22.
[6]高猛,李铁民,郑浩峻,等.并联机床铰链制造误差的补偿[J].清华大学学报:自然科学版,2003,43(5):617-620.
[7]张庆武.3-CUR并联机构运动学误差分析及其仿真[D].河北秦皇岛:燕山大学,2016.
[8]KIM H S,CHOI Y J.Kinematic error bound analysis of the Stewart platform[J].Journal of Robotic System,2000,17(1):63-73.
[9]何雪浤,张敏,谢里阳,等.3-TPT型并联机床的精度分析与仿真[J].中国机械工程,2008,19(11):1336-1339.
[10]陈小岗,孙宇,吴海兵,等.6-UPS并联机床误差分布特性[J].中国机械工程,2014,25(2):179-185.
[11]梁辉,白志富,陈五一.一种驱动冗余并联机床的铰链间隙误差分析[J].机床与液压,2006(6):7-9.
[12]薄瑞峰,鲁岩,冯鹏升,等.一种大摆角五轴联动混联机床位置正解的神经网络分析法[J].机械设计与研究,2017,33(1):22-26.
[13]汪劲松,白杰文,高猛,等.Stewart平台铰链间隙的精度分析[J].清华大学学报:自然科学版,2002,42(6):758-761.
[14]HUANG T,DAVID J.A simple effective approach for error compensation of a tripod based parallel kinematic machine[J].Annals of the CIRP,2000,49(1):285-288.
[15]蔡飞跃.3-PUU并联机构运动学和动力学研究[D].南京:南京航空航天大学,2010.