| 一种二自由度并联机构设计及空间误差建模 |
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| 引用本文： | 汪苏,怀其武,苗新刚,郭倩,沈忠睿.一种二自由度并联机构设计及空间误差建模[J].机械,2012,39(8):7-11. |
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| 作者姓名： | 汪苏 怀其武 苗新刚 郭倩 沈忠睿 |
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| 作者单位： | 北京航空航天大学机械工程及自动化学院,北京,100191 |
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| 基金项目： | 北京市教育委员会共建项目专项资助(20091024) |
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| 摘 要： | 设计了一种应用于大构件装配的二自由度并联平台机构,该机构可以实现平移运动、旋转运动及平移和旋转的复合运动,承载力大,运动平稳。为使所设计的平台具有高的定位精度,以多体系统理论为基础,根据并联平台实际情况,推导出并联平台的空间误差模型,为进一步研究并联平台的误差补偿方法和相应的仿真分析奠定了基础。
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| 关 键 词： | 并联机构 多体系统理论 空间误差 |
Design and the volumetric error models of 2-DOF parallel manipulator |
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| WANG Su
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HUAI Qi-wu
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MIAO Xin-gang
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GUO Qian
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SHEN Zhong-rui.Design and the volumetric error models of 2-DOF parallel manipulator[J].Machinery,2012,39(8):7-11. |
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| Authors: | WANG Su HUAI Qi-wu MIAO Xin-gang GUO Qian SHEN Zhong-rui |
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| Affiliation: | (College of Mechanical Engineering andAutomation,Beihang University,Beijing 100191,China) |
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| Abstract: | A new 2-DOF(degree of freedom) parallel manipulator platform usd in the large component assembling is designed,this manipulator integrating independent translation、rotation and their composite motion,with large load capability,favorable micro-motion performance.In order to get the high location accuracy for the manipulator,this research according to the multi-body dynamics theory,and on the basis of the real structure of the platform,the precision volumetric error-modeling are derived.This research lays a foundation for further research about the error compensation and corresponding simulation analysis of the parallel manipulator. |
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| Keywords: | parallel manipulator multi-body system theory error-modeling |
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