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为获得平面冗余并联机构各杆件长度尺寸误差关系,进行了机构的位置建模,优化了误差尺寸。并联机构参考固高GPM2012机器人,选取顺时针构型,利用2条驱动闭链,建立了该机构的输出点位置方程组和误差方程,运用泰勒公式展开,获得误差项,定义了杆件误差影响系数,同时遍历工作空间,获得各杆件误差影响系数分布图,指出在并联机构中,各杆件基本长度相同情况下,不同的误差尺寸对输出位置影响不同。最后,采用优化设计的方法,给出了多种情况下的杆件误差比例关系。
In order to obtain the error relation between the length and size of each bar of planar redundant parallel mechanism, the location of the mechanism was modeled and the error size was optimized. The parallel mechanism refers to the Gogo GPM2012 robot, the clockwise configuration is selected, the system of output position equations and error equations of the mechanism are established by using two drive chains, the Taylor equation is developed to obtain the error term, and the influence of bar error is defined Coefficient, at the same time traversing the work space to obtain the error distribution coefficient of each rod, and pointed out that in the parallel mechanism, the basic length of the same rod, the different error size of the output position of different. Finally, using the method of optimal design, the ratio of bar error is given in many cases.