关节间隙对并联机床精度的影响规律研究

由于关节间隙的存在，并联机构末端执行器经常会产生一些运动误差，这些误差的大小与关节间隙的大小、关节位置和机构姿态都有关系。对某四自由度混并联机床进行了运动学分析，在ADAMS软件中建立了该机床并联机构的虚拟样机，采用接触力方式定义了机构关节间的传动关系，通过运动仿真研究了部分关节间隙对机构运动精度的影响规律，验证了方法的可行性。

Research on Influence of Joint-clearance on Parallel Machine Tool''''s Precision

Due to clearances in their joints, parallel mechanism always exhibits some kinematic errors at the end effector. The amount of error depends on the amount of joint-clearance, the joint position, and the pose of the manipulator. The kinematic analysis of a 4-DOF hybrid machine tool was studied, a virtual prototyping of the parallel mechanism was established in ADAMS/View,and a kind of transmission-contact force between the joint of mechanism parts was presented. The regularity of influence was obtained through a kinematic simulation when the mechanism has several joint-clearances. The results show that this method is suitable to analyze this kind of problems.