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一种新型并联机构位姿误差建模及灵敏度分析 总被引:1,自引:0,他引:1
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。 相似文献
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将一种少自由度并联机构3-PRS用作飞行模拟运动平台,为使该平台运动精度满足系统要求,对其进行误差分离与灵敏度分析。通过研究平台运动学逆解模型获得驱动雅克比矩阵与约束雅克比矩阵,采用空间闭环误差矢量链的误差建模方法,对运动平台进行误差建模,获得各个几何误差源与终端输出位姿误差之间的映射函数,在所建立的全误差源模型的基础上,利用解析法去除冗余误差源后,借助驱动雅克比矩阵与约束雅克比矩阵将影响该平台末端可补偿位姿误差的误差源和不可补偿位姿误差的误差源分离。最后,在整个运动空间内,借助灵敏度分析,获得影响末端不可补偿位姿误差源的全局灵敏度影响系数。根据灵敏度影响系数可指导前期设计阶段各零部件公差等级的选择以及装配阶段装配公差的确定,研究结果对同类少自由度并联机构具有指导意义。 相似文献
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基于正交设计的2UPS-RPU并联机构误差分析 总被引:1,自引:0,他引:1
运用空间矢量环微分法,建立了兼顾位置和姿态两类误差的位姿误差正解数学模型。此误差模型描述了机构末端位姿误差与各误差源之间的显式映射关系,可定量分析各误差源对机构输出误差的影响。分析了机构位姿参数、结构参数在一定范围内变化时的误差变化曲线,为机构结构参数和工作位姿参数范围的选取提供了理论依据。为分析2UPSRPU并联机构在整个工作空间内各误差源对位姿误差的影响,利用正交设计思想,只需较少的计算量,即可对该机构进行误差分析。基于正交设计思想,将4个位姿参数看成对位姿误差有影响的4个因素,依据位姿参数变化对位姿误差的影响合理划分各因素的水平,使排列的正交表为误差分析提供合理位姿。结合正交表,仿真了机构各末端输出误差对各个误差源的响应程度,从而揭示了影响机构误差的关键因素,可用于指导物理样机的制造与安装。 相似文献
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以D-H变换矩阵为建模工具,采用环路增量法,建立了包含杆件D-H参数的球面5R并联机构的误差模型,该模型不仅考虑了机构的结构参数误差,还考虑了由于加工和装配等原因出现的各转动副轴线和球心之间的偏差,使得误差模型更接近于工程实际;根据误差模型进一步计算得到了各从动件运动参数误差以及轴向间隙量的显式函数关系;最后对该机构进行灵敏度分析,研究了各几何误差源对该机构末端执行器位姿误差的影响程度。研究结果为该机构样机的标定、运动学补偿及应用提供了理论基础。
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为提高6-PSS并联机构的运动精度,需对其进行误差分析和标定研究。利用矢量法构建并联6自由度机构的误差模型,根据MATLAB计算得到机构的误差源对动平台末端位姿影响的灵敏度。对机构进行误差综合分析,结合运动学正解和逆解,提出一种新的基于机构坐标轴姿态约束的运动学标定方法。根据测量初始值,利用标定算法解算得到机构的标定值。借助外部检测设备测量得机构标定前和标定后的位移和角度误差,标定后位移误差由10mm减小到1mm,角度误差由0.3°减小到0.1°。以实际测量数据验证了该标定方法的有效性和正确性,并最终提高了并联机构的运动精度。 相似文献
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以航空发动机限寿件典型故障模式为评估对象,将风险指标模糊化,并以信息熵权作为属性权重,对逼近理想解排序(TOPSIS)方法进行改进,提出一种新的限寿件风险评估方法。以故障模式的严重度、发生频度和被检测难易度这3个参数为主要风险指标,建立三角模糊数决策矩阵,并进行规范化处理;在限寿件故障数据为小子样的情况下,运用熵权法,集成相关专家和工程人员的决策信息计算风险指标的熵权,并作为加权向量对规范决策矩阵进行修正;利用TOPSIS法进行评估。应用实例分析与计算,用正负理想解、欧氏距离和相对接近度等数据对5种故障模式进行模糊风险评估。结果表明,改进熵权TOPSIS的模糊风险评估方法可以实现评估对象的精确排序,比危害性矩阵作图法分析效率更高,能够为故障模式影响分析(FMEA)方法中制定预防措施和降低风险提供可靠依据。 相似文献
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Failure mode and effect analysis (FMEA) model is a technique used to evaluate the risk. This paper aimed to propose a new FMEA model combining technique for order of preference by similarity to ideal solution (TOPSIS) and belief structure to overcome the shortcomings of the traditional index of FMEA. In this paper, the fuzzy belief TOPSIS method is combined with FMEA to introduce a belief structure FMEA to describe the expert knowledge by a number of linguists as a grammatical phenomenon. Moreover, the weights of components in FMEA index can be different from each other. Therefore, the flexibility of assigning weight to each factor in this method is more compatible to the real decision-making situation. In other word, TOPSIS method is applied to determine the preference of alternatives versus risk criteria. Using linguistic terms in the fuzzy belief approach, the risk factors described a more meaningful value and decision-makers’ judgment is assigned with belief degrees through evaluation of factors. Finally, a numerical case study about the preference of cause failures of steel production process is provided to illustrate the process of proposed method, and then result and discussion is performed for each case. 相似文献
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R. Thirumalai J. S. Senthilkumaar 《Journal of Mechanical Science and Technology》2013,27(4):1109-1116
Taguchi’s methods and design of experiments are invariably used and adopted as quality improvement techniques in several manufacturing industries as tools for offline quality control. These methods optimize single-response processes. However, Taguchi’s method is not appropriate for optimizing a multi-response problem. In other situations, multi-responses need to be optimized simultaneously. This paper presents multi-response optimization techniques. A set of non-dominated solutions are obtained using non-sorted genetic algorithm for multi-objective functions. Multi-criteria decision making (MCDM) is proposed in this work for selecting a single solution from nondominated solutions. This paper addresses a new method of MCDM concept based on technique for order preference by similarity to ideal solution (TOPSIS). TOPSIS determines the shortest distance to the positive-ideal solution and the greatest distance from the negative-ideal solution. This work involves the high-speed machining of Inconel 718 using carbide cutting tool with six objective functions that are considered as attributes against the process variables of cutting speed, feed, and depth of cut. The higher-ranked solution is selected as the best solution for the machining of Inconel 718 in its respective environment. 相似文献
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运用TOPSIS方法对钢铁企业技术创新能力进行评价,在进行评价时用AHP方法中单一准则下的权重计算方法代替平时的德尔菲法进行权重求解.这样改进TOPSIS方法可以使得大型钢铁企业能够在进行外部创新能力比较时对自身进行创新能力的改进,提高我国钢铁企业对于创新体系的评价能力,使我国钢铁行业技术创新管理水平得到进一步的提高. 相似文献
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Plant location selection based on fuzzy TOPSIS 总被引:1,自引:1,他引:1
Deng Yong 《The International Journal of Advanced Manufacturing Technology》2006,28(7-8):839-844
The selection of plant location plays a very important role in minimizing cost and maximizing the use of resources for many
companies. In this paper, a new TOPSIS approach for selecting plant location under linguistic environments is presented, where
the ratings of various alternative locations under various criteria, and the weights of various criteria are assessed in linguistic
terms represented by fuzzy numbers. To avoid complicated fuzzy arithmetic operations, the linguistic variables, which are
represented by triangular fuzzy numbers, are transformed into crisp numbers based on graded mean representation. The canonical
representation of multiplication operations on triangular fuzzy numbers is used to obtain the “positive ideal solution” and
the “negative ideal solution”. The closeness efficient is defined to determine the ranking order of all alternatives by calculating
the distance to both the “positive-ideal solution” and the “negative-ideal solution” simultaneously. Compared with existing
fuzzy TOPSIS methods, the proposed method can deal with group decision-making problems in a more efficient manner. A numerical
example of plant location selection is used to illustrate the efficiency of the proposed method. 相似文献