| 采用冗余驱动提高并联机床精度的研究 |
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| 引用本文： | 韩先国,陈五一,郭卫东.采用冗余驱动提高并联机床精度的研究[J].航空学报,2002,23(5):487-490. |
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| 作者姓名： | 韩先国 陈五一 郭卫东 |
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| 作者单位： | 北京航空航天大学,机械工程及自动化学院,北京,100083 |
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| 基金项目： | 航空科学基金 (99H5 112 4)资助项目 |
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| 摘 要： | 由于并联机构铰链间隙的存在,使并联机构的实际精度和刚性明显减小。本文论述了采用冗余驱动技术改善并联机构精度的研究。首先分析了可以将铰链间隙对并联机构运动误差的影响转化为杆长偏差对机构误差的影响;然后通过分析得出 :由于铰链间隙的影响,并联机构运动空间是空间几个球环的交集,采用数值法,利用球坐标数值积分求出误差空间的体积大小;最后对具有相同结构参数的非冗余和具有冗余驱动的两种并联机构,在同样的工作空间内分别计算了误差分布,得出采用冗余驱动技术可以有效减小因铰链间隙而引起的并联机构运动误差的结论。
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| 关 键 词： | 并联机构 冗余驱动 铰链间隙 误差 工作空间 |
| 文章编号： | 1000-6893(2002)05-0487-04 |
| 修稿时间： | 2002年6月2日 |
NEW APPROACH TO IMPROVE ACCURACY OF PKMS BY REDUNDANT CONTROL |
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| HAN Xian guo,CHEN Wu yi,GUO Wei dong.NEW APPROACH TO IMPROVE ACCURACY OF PKMS BY REDUNDANT CONTROL[J].Acta Aeronautica et Astronautica Sinica,2002,23(5):487-490. |
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| Authors: | HAN Xian guo CHEN Wu yi GUO Wei dong |
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| Institution: | School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083,China |
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| Abstract: | The accuracy and rigidity of a parallel manipulator decrease much because of its joint clearance, so the redundant control was presented to improve the accuracy. Firstly, the reason that the effect of the joint clearance on the accuracy of the parallel manipulator is the same as the length error of the leg was given, and then it can be derived that the error workspace is the intersection of several parts of the sphere. The errors between two mechanisms in the whole workspace were compared after the solution to get the error workspace volume is given. The conclusion that redundant control can improve accuracy was drawn at last. |
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| Keywords: | parallel manipulator redundant control joint clearance error workspace |
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