| 基于机器人运动学的三维公差累积建模研究 |
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| 引用本文： | 许本胜,黄美发,钟艳如,蒋向前,张亚.基于机器人运动学的三维公差累积建模研究[J].机械设计与制造,2007(1):105-107. |
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| 作者姓名： | 许本胜 黄美发 钟艳如 蒋向前 张亚 |
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| 作者单位： | 桂林电子科技大学,机电工程学院,桂林,541004;桂林电子科技大学,计算机与控制学院,桂林,541004;华中科技大学,机械学院,武汉,430074 |
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| 基金项目： | 国家自然科学基金
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广西高校百名中青年学科带头人项目 |
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| 摘 要： | 运用机器人运动学中机械手的微分运动与各关节位置微小变动间关系的求解方法,进行三维公差的累积建模研究.讨论了三维公差的特征自由度表示,在运动坐标系基础上建立三维公差的雅可比传递矩阵累积模型,并用矢量积法得到各自由度变动对关键特征变动的雅可比传递系数矩阵.最后给出一个装配体计算实例,所得结果定量地表示了各配合特征各自由度累积对关键特征空间位置及方向变动的影响,反映了三维装配中零件公差累积情况,可以为进一步的尺寸及形位公差设计提供约束方程.
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| 关 键 词： | 三维公差累积 自由度变动 机器人运动学 雅可比矩阵 矢量积法 |
| 文章编号： | 1001-3997(2007)01-0105-03 |
| 修稿时间： | 2006-06-06 |
Research on robotic kinematics-based modeling of accumulation of three-dimensional tolerance |
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| XU Ben-sheng,HUANG Mei-fa,ZHONG Yan-ru,JIANG Xiang-qian,ZHANG Ya.Research on robotic kinematics-based modeling of accumulation of three-dimensional tolerance[J].Machinery Design & Manufacture,2007(1):105-107. |
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| Authors: | XU Ben-sheng HUANG Mei-fa ZHONG Yan-ru JIANG Xiang-qian ZHANG Ya |
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| Affiliation: | 1 School of Mechanical and Electrical Engineering, Guilin University of Electronic Technology,Guilin 541004,China 2 School of Computer and Control Engineering, Guilin University of Electronic Technology, Guilin 541004,China 3SSehool of Mechanical Science and Engineering,Huazhong University of Science and Technology, Wuhan 430074,China |
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| Abstract: | Establishes the model of three-dimensional(3D)tolerance accumulation using the method of expressing the relation between mechanical finger's differential motion and every joint's small displacements.It exploits the concept from robotic kinematics to model variation transformation during assembly.The representation of 3D tolerance semantics is discussed by use of degree of freedom(DOF).Using vector product to obtain the Jacobian Matrixes,the model of 3D tolerance accumulation is developed based on kinematical coordinate systems associating with each DOF.Finally,a case study is given to validate the established model.The results reflect the DOF variations' influence on the dimensional location and direction perturbation of the key characteristics.This work can provide the constraint equations for the further tolerance design. |
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| Keywords: | 3D tolerance accumulation DOF Robotic kinematics Jacobian-matrix Vector product |
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