Analysis of the Influence of Joint Clearance on Cutter's Position and Orientation for 6-DOFs Parallel Machine Tool
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摘要: 为了评价6自由度交叉杆型并联机床中铰链间隙对刀具空间位置与姿态(简称位姿)的影响,提出了一种"分解、求交"方法,确定铰链间隙引起刀具平台位姿的可达空间,进而分析铰链间隙对刀具位姿的影响。基于旋量理论,采用指数坐标法推导了该机床各支链的正向运动学指数式解析表达式,并分别求取单支链单独约束下铰链间隙引起刀具平台的可达空间。对6个空间进行求交处理,获得6支链同时约束下的可达空间,即为间隙引起的误差空间。实验结果证明了该"分解、求交"方法的正确性和有效性。Abstract: To estimate the influence of joint clearance on cutter's spatial position and orientation (collectively re-ferred to as pose) for 6-DOFs parallel machine tool, a decomposition-intersection method was proposed in this studyto obtain the error space caused by joint clearance. Based on the screw theory and exponential coordinate,the for-ward kinematics model was established and the analytic expression was derived for each link of the parallel machinetool. Then six reachable spaces,each corresponding to the situation that the cutter-platform is constrained by onlyone link,were calculated and the intersection of them,i. e.,cutter's error space caused by joint clearance was ob-tained. The experiment and analysis on practical parallel machine tool proved the correctness and effectiveness ofthe proposed method.
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Key words:
- error space /
- joint clearance /
- parallel machine tool /
- exponential mapping /
- forward kinematics
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