关节间隙对并联机床精度的影响规律研究.pdfVIP

) ) ) 王海军 王君英 清华大学, 北京, 100084 : 由于关节间隙的存在, 并联机构末端执行器经常 产生 一些运动误差, 这些误差的大小与关 节间隙的大小关节位置和机构姿态都有关系对某四自由度混并联机床进行了运动学分析, 在 ADAM S软件中建立了该机床并联机构的虚拟样机, 采用接触力方式定义了机构关节间的传动关系, 通 过运动仿真研究了部分关节间隙对机构运动精度的影响规律, 验证了方法的可行性 : ; ; ; : T H 113 : 1004 ) 132X( 2007) 04 ) 0471) 05 Research on Influence of Joint- clearanceon Parallel Machine Tool. sPrecision Wang Haijun W ang Junying T sing ua University, Beijing, 100084 Abstract: Due to clearances in t eir joints, parallel mec anism alw ays ex ibits some kinematic er- rors at t e end effector. T e amount of error depends on t e amount of joint- clearance, t e joint po- sition, and t e pose of t e manipulator. T e kinematic analysis of a 4- DOF ybrid mac ine tool w as studied, a virtual prototyping of t e parallel mec anism w as establis ed in ADAMS/ View , and a kind of transmission- contact force betw een t e joint of mec anism parts was presented. T e regularity of influence w as obtained t roug a kinematic simulation w en t e mec anism as several joint - clear- ances. T e results s ow t at t is met od is suitable to analyze t is kind of problems. Keywords: kinematic analysis; joint- clearance; contact force; kinematic simulation 0 引言 1 混并联机床运动学分析 , XNZD755 [ 1] ( 1) , , X Y , Z [ 2] B X YZ , 500mm, B ? 180b , [ 3O6] , , [ 7O10] , , , , , 1 ,