两操作模式2-R(SS)2-R(RR)2(RR)2并联机构误差建模及精度设计

安守和; 汪满新; 李正亮

doi:10.7652/xjtuxb202007018

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两操作模式2-R(SS)₂-R(RR)₂(RR)₂并联机构误差建模及精度设计

更新时间：2025-07-09

- 两操作模式2-R(SS)₂-R(RR)₂(RR)₂并联机构误差建模及精度设计
- Error Modeling and Accuracy Design of a 2-R(SS)₂-R(RR)₂(RR)₂ Parallel Mechanism with Two Operation Modes
- 西安交通大学学报 2020年54卷第7期页码：146-157
- 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：
  
  : 2019-10-03。作者简介: 安守和(1994—),男,硕士生;汪满新(通信作者),男,副教授。基金项目: 国家自然科学基金资助项目(51605225);机械系统与振动国家重点实验室课题资助项目(MSV201812);中央高校基本科研业务费专项资金资助项目(309171B8808)
- DOI：10.7652/xjtuxb202007018
  中图分类号： TG156
- 网络首发：2020-07-10，
  
  纸质出版：2020
- 稿件说明：
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安守和, 汪满新, 李正亮. 两操作模式2-R(SS)₂-R(RR)₂(RR)₂并联机构误差建模及精度设计[J]. 西安交通大学学报, 2020,54(7):146-157. DOI: 10.7652/xjtuxb202007018.

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.
安守和, 汪满新, 李正亮. 两操作模式2-R(SS)₂-R(RR)₂(RR)₂并联机构误差建模及精度设计[J]. 西安交通大学学报, 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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