作　　者： (李春霞）; (张彦斐）; (宫金良）;

机构地区： 山东理工大学机械工程学院,山东淄博255049

出　　处： 《组合机床与自动化加工技术》 2017年第8期48-50,54,共4页

摘　　要： 针对3-URS并联机构进行了运动学分析,利用D-H变换矩阵对其进行位姿分析,推导得到其运动学正解模型,在此基础上利用矩阵微分理论结合D-H矩阵得到了单条支链的位姿误差模型,最终得到全面考虑各关节处的误差来源(制造误差、安装误差、磨损误差等)的动平台位姿误差模型。应用该数学模型进行计算,并对3-URS并联机构的误差进行分析,给出了动平台末端误差随驱动角α_1,β_1的变化规律,通过该规律可得到误差敏感点,在工作过程中应注意避免。该误差模型的建立对3-URS并联机构的制造,及位姿控制的精度补偿有参考价值。 The kinematics normal solution model of the moving platform of 3-URS parallel machine is estab- lished with D-H transformation matrix. Based on the model, the pose error model of single chain is estab- lished by matrix differential theory and D-H transformation matrix and the position and pose error model of the dynamic platform considering the error sources （manufacturing error, installation error, wear error, etc. ） of the each joint are obtained by integrated each single chain. The variation law of the error of the moving platform 3-URS parallel machine with the drive angle α and β1 is presented by analysis results from the mathematical model calculation. Error sensitive points are known by the law and in the actual operation they should be avoided. The results have reference value to the manufacture of 3-URS parallel mechanism, precision compensation of pose Control.

关 键 词： 并联机构 变换矩阵 位姿误差建模