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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。
In order to reduce the manufacturing error of hinges and improve the motion accuracy of parallel machine tools, the manufacturing error of hinge was analyzed based on XNZ63, a 6-DOF parallel machine tool. Using Denavit-Hartenberg (D-H) method, a kinematic equation including the manufacturing error of the hinge is established. The influence of the manufacturing error of the hinge in the working space on the accuracy of the terminal movement is obtained through the simulation calculation. The hinge manufacturing error is mapped to the drive shaft length error, and the error real-time compensation algorithm is developed accordingly. The simulation shows that the algorithm can still compensate about 80% of the error when the disturbance is measured at 0.01mm. The compensation of each attitude and position takes only about 0.3ms, which meets the real-time requirements of numerical control system and provides the parallel machine tool with similar hinge Efficient and versatile hinge manufacturing error compensation algorithm.