一种新型并联机构位姿误差建模及灵敏度分析

利用齐次坐标变换推导了一种新型五自由度平动、转动独立的复合机构的位姿反解。基于位姿反解和一阶泰勒展开，建立了考虑机构形位尺寸误差、转动副间隙误差和驱动误差的位姿误差计算模型。应用误差模型能够得出末端执行器位姿误差和各个误差源之间的显式映射关系，定量地分析各个误差源对机构运动精度的影响程度,从而确定机构中影响其运动精度的关键环节。应用差分法就机构位置误差对主要设计变量的灵敏度进行了分析计算。灵敏度分析有助于合理确定机构的设计参数。位姿误差建模及灵敏度分析为该复合机构的优化设计和误差补偿提供了理论基础。

A Multi-response Robust Design Method Based on TOPSIS

A new multiresponse robust design method was put forward on the basis of the combination of Taguchi signaltonoise function and technique for order preference by similarity to ideal solution（TOPSIS） method.The drawback of the comprehensive signal-to-noise method which weighed each characteristic equally was modified,and the application of TOPSIS method was extended to meet all of the three types of quality characteristics.A typical case study with the above hybrid strategy is showed that the new method is more effective.