知识与财富的链接
以一类含平行四边形支链的Delta并联机械手为对象,利用空间矢量链分析方法,构造出机构末端位置和姿态误差与几何误差之间的映射关系,明确揭示出影响机构末端不可补偿误差的几何误差源,并借助灵敏度分析定量揭示几何误差对末端位姿误差的影响.研究成果对指导同类装备的设计与制造具有普遍的意义.
This paper presents an error modeling methodology that enables the tolerance design and kinematic calibration of a class of parallel kinematic machines with parallelogram struts to be integrated into a unified framework.The error mapping function is formulated to identify the source errors affecting the uncompensable pose errors.The sensitivity analysis is also carried out to investigate the influences of source errors on the pose accuracy.This study provides references for the design and manufacture of machines with similar structure.
