基于蒙特卡洛模拟的6-UPS并联机构的误差分析
发布时间：2018-10-07 20:05
【摘要】：根据6-UPS并联机构逆运动学模型,通过微分变换,构建了动平台位姿误差模型,由误差模型可知:动平台位姿误差来源于6个支杆长度误差和12个铰链中心的位置误差,共42个误差项。还建立了轴承间隙对万向节中心位置和复合球铰中心位置影响的随机误差模型,利用蒙特卡洛模拟分析了支杆长度误差和轴承游隙对动平台的位姿误差的影响,结果表明:当支杆长度误差服从均匀分布,铰链中心位置误差服从均匀分布时,动平台位姿误差近似服从正态分布,且动平台位姿对铰链轴承游隙的敏感度大于对支杆长度误差的敏感度。为6-UPS并联机构的误差分析提供了一种方法。
[Abstract]:According to the inverse kinematics model of 6-UPS parallel mechanism and differential transformation, the position and attitude error model of moving platform is constructed. According to the error model, the position and attitude error of moving platform comes from the length error of 6 branches and the position error of 12 hinge centers. There are 42 error terms. The random error model of bearing clearance on the center position of universal joint and the center position of compound spherical hinge is also established. The influence of the length error of bearing rod and the bearing clearance on the position and attitude error of moving platform is analyzed by Monte Carlo simulation. The results show that when the length error of the supporting rod is uniformly distributed and the center position error of the hinge is uniformly distributed, the pose error of the moving platform is approximately distributed from the normal distribution. The sensitivity of moving platform position to hinge bearing clearance is greater than that of support rod length error. A method for error analysis of 6-UPS parallel mechanism is provided.
【作者单位】： 中国科学院大学长春光学精密机械与物理研究所;中国科学院大学;
【基金】：国家自然科学基金资助项目(60507003)
【分类号】：TH112
本文编号：2255508
[Abstract]:According to the inverse kinematics model of 6-UPS parallel mechanism and differential transformation, the position and attitude error model of moving platform is constructed. According to the error model, the position and attitude error of moving platform comes from the length error of 6 branches and the position error of 12 hinge centers. There are 42 error terms. The random error model of bearing clearance on the center position of universal joint and the center position of compound spherical hinge is also established. The influence of the length error of bearing rod and the bearing clearance on the position and attitude error of moving platform is analyzed by Monte Carlo simulation. The results show that when the length error of the supporting rod is uniformly distributed and the center position error of the hinge is uniformly distributed, the pose error of the moving platform is approximately distributed from the normal distribution. The sensitivity of moving platform position to hinge bearing clearance is greater than that of support rod length error. A method for error analysis of 6-UPS parallel mechanism is provided.
【作者单位】： 中国科学院大学长春光学精密机械与物理研究所;中国科学院大学;
【基金】：国家自然科学基金资助项目(60507003)
【分类号】：TH112
【相似文献】
相关期刊论文 前1条
1 卢强,张友良;Stew art平台误差的蒙特卡洛模拟[J];机械科学与技术;2001年04期
，本文编号：2255508
本文链接：https://www.wllwen.com/kejilunwen/jixiegongcheng/2255508.html
