基于正交设计法的2UPS-RPU并联机构精度综合

牛亚雯; 温淑鸿; 冯志友

doi:10.13433/j.cnki.1003-8728.2015.0704

基于正交设计法的2UPS-RPU并联机构精度综合

doi: 10.13433/j.cnki.1003-8728.2015.0704

1.
天津工业大学机械工程学院, 天津 300387;
2.
天津市现代机电装备技术重点实验室, 天津 300387

基金项目:

天津市自然科学基金项目（11JCYBJC05600）资助

详细信息

作者简介:
牛亚雯（1986-），硕士研究生，研究方向为并联机构精度分析与综合，niuyawen1989@163.com

通讯作者:
温淑鸿，教授，硕士，wensh@tjpu.edu.cn

计量
- 文章访问数: 145
- HTML全文浏览量: 23
- PDF下载量: 9
- 被引次数: 0
出版历程
- 收稿日期: 2013-08-04
- 刊出日期: 2015-07-05

Accuracy Synthesis of 2UPS-RPU Parallel Manipulator Based on Orthogonal Design

1.
College of Mechanical Engineering, Tianjin Polytechnic University, Tianjin 300387, China;
2.
Advanced Mechatronics Equipment Technology Tianjin Area Major Laboratory, Tianjin 300387, China

摘要

摘要: 针对并联机构各原始误差对位姿误差的影响程度不同，使用穷举法在整个工作空间中进行精度综合计算量太大的问题，提出一种原始误差影响因子加权法与正交设计法相结合的精度综合方法。以2UPS-RPU并联机构为对象进行精度综合，并对综合结果进行验证。验证结果表明：该方法能够快速地得到22项误差源的公差值，且在整个工作空间内，末端位姿误差δy、δz、δα、δβ超出给定范围的概率仅分别为4.5%、2.08%、0.25%、2.16%，分析结果也验证了此方法的可行性与正确性。
- 并联机构 /
- 精度综合 /
- 正交设计 /
- 影响因子
Abstract: Aiming at the different original errors affecting on the pose errors and the large calculation in the exhaustion method to solve the parallel mechanism's accuracy synthesis problem in the whole workspace, we propose an approach combining the impact factor weighting method of geometry original errors with the orthogonal design method, and take the 2UPS-RPU parallel mechanism as an object to get the accuracy synthesis result and validated the final accuracy synthesis result. The verification result shows that it is easily to get the tolerance value of 22 geometry original errors in the present method, and in the whole workspace the probability of the pose error δy、δz、δα、δβ beyond the given accuracy range are 4.92%, 2.33%, 1.25%, 1.42% respectively and the feasibility and validity of the present method are verified.
- accuracy synthesis /
- impact factor /
- orthogonal design /
- parallel mechanism

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参考文献(18)

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