正交试验法分析结构参数对并联机构精度的影响.pdfVIP

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正交试验法分析结构参数对并联机构精度的影响

12

于世杰，吴丽

（1.中国人民解放军32306部队；2.天津大学青岛海洋工程研究院，山东青岛266000）

摘要：为了研究多个结构参数同时变化对输出位姿误差的影响，提出了一种正交试验综合分析法。以3-UPSS并联机构

为研究对象，通过矢量法建立机构误差模型，然后利用正交试验法综合分析该机构4个结构参数同时发生变化时对输出位姿误

差的影响。在给定一组误差源下，通过分析试验结果得到了一组最优的结构参数组合，同时通过极差分析得到了各结构参数

对输出位姿误差的影响程度。试验结果表明，该方法不仅解决了多因素对位姿误差的影响，并且有效解决了大规