Error Modeling and Accuracy Design of a 2-R(SS)2-R(RR)2(RR)2 Parallel Mechanism with Two Operation Modes

doi:10.7652/xjtuxb202007018

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Error Modeling and Accuracy Design of a 2-R(SS)₂-R(RR)₂(RR)₂ Parallel Mechanism with Two Operation Modes

更新时间：2025-07-09

- Error Modeling and Accuracy Design of a 2-R(SS)₂-R(RR)₂(RR)₂ Parallel Mechanism with Two Operation Modes
- Vol. 54, Issue 7, Pages: 146-157(2020)
- 作者机构：
  
  南京理工大学机械工程学院,南京,210094
- 作者简介：
- 基金信息：
- DOI：10.7652/xjtuxb202007018
  CLC： TG156
- Online First：10 July 2020，
  
  Published：2020
- 稿件说明：
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Error Modeling and Accuracy Design of a 2-R(SS)₂-R(RR)₂(RR)₂ Parallel Mechanism with Two Operation Modes[J]. 2020, 54(7): 146-157. DOI: 10.7652/xjtuxb202007018.
DOI：

Error Modeling and Accuracy Design of a 2-R(SS)₂-R(RR)₂(RR)₂ Parallel Mechanism with Two Operation Modes[J]. 2020, 54(7): 146-157. DOI: 10.7652/xjtuxb202007018. DOI：

摘要

为提高多操作模式并联机构末端位姿精度

确定各误差源对机构末端误差的影响规律及其最优值

以一种两操作模式2-R(SS)

-R(RR)

(RR)

并联机构为对象

研究其误差建模及其零件公差优化设计方法。运用矢量法建立了可兼顾两种操作模式的机构位置逆解模型; 基于R(SS)

支链和R(RR)

(RR)

支链的误差模型

建立了2-R(SS)

-R(RR)

(RR)

并联机构两种操作模式统一的整机误差模型。提取不同操作模式下2-R(SS)

-R(RR)

(RR)

并联机构末端不可补偿误差

建立了末端不可补偿误差与各误差源的映射关系。基于灵敏度分析得到了两种操作模式下各误差源对末端不可补偿误差的影响规律

结果表明影响机构末端位姿精度的关键误差源共有23项。综合考虑两种操作模式下机构末端位姿精度

提出了以各零件尺寸误差灵敏度系数为权重系数而构造的机构尺寸公差总和最大为目标函数的精度优化模型。通过算例得到在给定精度条件下各关键误差源尺寸最优公差

为机构零件制造装配提供依据。

Abstract

To improve the accuracy of the end-effector of a parallel mechanism with multiple operation modes and obtain the influencing rule of each error source on the accuracy of the end-effector and its optimal value

error modeling and component tolerance optimi-ation design are carried out by taking a 2-R(SS)

-R(RR)

(RR)

parallel mechanism with two operation modes as example. An inverse position model that can take bot

h operation modes into account is established by the vector method. Based on the error models of R(SS)

branch and R(RR)

(RR)

branch

the unified error models of 2-R(SS)

-R(RR)

(RR)

parallel mechanism considering both operation modes is established. The uncompensable errors of the parallel mechanism in different operation modes are extracted

and the mapping relationship between the uncompensable errors and each error source of the whole mechanism is established. Based on the s

关键词

Keywords

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