串并联机器人主轴平台结构参数的敏感性分析

5自由度串并联机构机器人在数控操作(加工)时具有灵活性,3-PRS主轴平台在操纵运动的3个方向上起了关键作用,为了解决这个问题,提出了一种解析方法用来研究主轴平台结构参数的敏感性问题并建立了敏感性模型,基于此模型和实例仿真,讨论了影响主轴平台位置和方向的所有参数,发现滑座进给参数、连杆长度和主轴(包括刀具)的安装长度尺寸是影响平台位姿精度的关键参数.

Sensitivity analysis of spindle platform structure parameters of a series-parallel robot

The series-parallel robot with five degrees of freedom provides more flexibility in NC machining. 3-PRS spindle platform plays a key role in manipulating the three directions of movement. To solve the problem, an analytic method is proposed to research the sensitivity problem of spindle platform structure parameters and the sensitivity model is built. All the parameters influencing the position and orientation of the spindle platform are discussed, based on this model and the simulated examples. Critical parameters to the accuracy of the platform pose can be found, which are the slider position, the strut length and the spindle (including tool) length.