| Stewart型并联机床直线插补步长的研究 |
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| 引用本文： | 杨晓钧,李兵,张东来.Stewart型并联机床直线插补步长的研究[J].哈尔滨工业大学学报,2009,41(3):33-36. |
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| 作者姓名： | 杨晓钧 李兵 张东来 |
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| 作者单位： | 哈尔滨工业大学,深圳研究生院,518055
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| 摘 要： | 为了提高Stewart型并联机床运动学精度,文章研究并联机床末端运动轨迹的直线插补步长和非线性插补误差的关系.提出了采用曲率法度量非线性运动误差和插补步长之间的关系,基于以上方法,建立了度量并联机床非线性强度的曲率模型.通过数值仿真的方法,得出并联机床工作空间内非线性误差的分布规律,并得出整个机床工作空间内的最大曲率为0.0016.利用以上结论,在满足插补精度的前提下,选取较大的直线插补步长,提高了并联机床的加工效率.
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| 关 键 词： | 并联机床 直线插补步长 非线性插补误差 |
Linear interpolation step length of stewart platform-based parallel kinematics machine |
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| YANG Xiao-jun,LI Bing,ZHANG Dong-lai.Linear interpolation step length of stewart platform-based parallel kinematics machine[J].Journal of Harbin Institute of Technology,2009,41(3):33-36. |
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| Authors: | YANG Xiao-jun LI Bing ZHANG Dong-lai |
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| Affiliation: | (Shenzhen Graduate School,Harbin Institute of Technology,Shenzhen 518055,China) |
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| Abstract: | The relationship between the linear interpolation step length and the nonlinear interpolation error is studied on a Stewart platform-based parallel kinematics machine(PKM) for enhancing the kinematics accuracy.The curvature method is presented for measuring the magnitude of nonlinear error when the interpolation step length varies.Based on this method,a curvature model of the PKM is constructed.The distributed tendencies of the curvature magnitude in the task workspace are obtained by numerical simulation and the maximum value of the curvature is 0.0016.The machining efficiency will be improved by adopting the greater interpolation step length according to the maximum curvature aforementioned above. |
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| Keywords: | parallel kinematics machine linear interpolation step length nonlinear interpolation error |
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