六自由度运动平台静态位姿误差及其仿真研究

发布时间：2018-04-30 16:04

本文选题：六自由度运动平台 + 运动学　；参考：《吉林农业大学》2017年硕士论文

【摘要】：六自由度运动平台近年来越来越多地应用于很多场合,作为一种新型的并联机构,与串联机构相比,它刚度大、灵活性好;在控制承载方面具有能力强、运动平稳等优点。但由于其结构的复杂,虽然从理论上说有较高的精度,但在机构的加工、制造、装配等环节仍会产生一定的误差。本文对六自由度运动平台静态位姿误差进行研究,分析原始误差源对其静态位姿误差的影响,并对六自由度运动平台进行误差仿真,最后在误差模型的基础上得出造成六自由度运动平台静态位姿误差的因素。对六自由度运动平台进行了机构运动学分析,包括分析机构的结构和自由度、建立坐标系和推导坐标变换、求解位置正解和位置反解、分析工作空间等。建立了机构输入与输出的微分关系,推导出六自由度运动平台静态位姿误差模型。对六自由度运动平台静态位姿误差进行研究,并分别讨论了单项误差源对运动平台静态位姿误差的影响。分析表明,当杆长误差和铰链点位置误差值相等时,杆长误差对六自由度运动平台位姿精度的影响大于铰链点位置误差对六自由度运动平台位姿精度的影响。利用Adams对六自由度运动平台进行参数化建模及仿真,得到了运动平台运动状态及误差变化,对提高六自由度运动平台的位姿精度有着重要意义。
[Abstract]:The six-degree-of-freedom motion platform is more and more used in many occasions in recent years, as a new type of parallel mechanism, compared with the series mechanism, it has the advantages of large stiffness, good flexibility, strong control capacity, smooth motion and so on. However, due to the complexity of its structure, although there is a high accuracy in theory, there are still some errors in the process, manufacture and assembly of the mechanism. In this paper, the static pose error of six degrees of freedom motion platform is studied, the influence of original error source on static pose error is analyzed, and the error simulation of six degree of freedom motion platform is carried out. Finally, on the basis of the error model, the factors causing the static pose error of the six-degree-of-freedom motion platform are obtained. The kinematics analysis of the six-degree-of-freedom motion platform is carried out, including the analysis of the structure and degree of freedom of the mechanism, the establishment of coordinate system and the derivation of coordinate transformation, the solution of position forward solution and position inverse solution, and the analysis of workspace, etc. The differential relationship between the input and output of the mechanism is established, and the static pose error model of the six degree of freedom moving platform is derived. The static pose error of six degrees of freedom motion platform is studied, and the influence of single error source on the static pose error of moving platform is discussed respectively. The results show that when the rod length error is equal to the hinge point position error, the effect of the rod length error on the position and attitude accuracy of the six degree of freedom moving platform is greater than that of the hinge point position error on the position and attitude accuracy of the six degree of freedom moving platform. The parameterized modeling and simulation of the six-degree-of-freedom motion platform are carried out by using Adams, and the motion state and error change of the motion platform are obtained, which is of great significance to improve the pose accuracy of the six-degree-of-freedom motion platform.
【学位授予单位】：吉林农业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH112

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