| 郭盛,王乃玥,方跃法,李霄霄.基于概率的4自由度UPU并联机构误差敏感性分析[J].高技术通讯(中文),2012,22(6):644~650 |
| 基于概率的4自由度UPU并联机构误差敏感性分析 |
| Study on error sensibility of 4DOF UPU parallel manipulators based on probability distribution |
| 修订日期：2011-01-07 |
| DOI： |
| 中文关键词: 并联机构， 4自由度(DOF)， 位姿误差， 敏感误差， 数值分析， 概率分布 |
| 英文关键词: parallel manipulator, 4DOF, position and orientation error, sensitive error, numerical analysis, probability distribution |
| 基金项目:国家自然科学基金(51075025)资助项目 |
| 作者 | 单位 | | 郭盛 | 北京交通大学机电学院 | | 王乃玥 | 北京交通大学机电学院 | | 方跃法 | 北京交通大学机电学院 | | 李霄霄 | 北京交通大学机电学院 |
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| 中文摘要: |
| 以具有3平动1转动的4自由度UPU机构为研究对象，分析了机构对影响其自由度特性及运动误差的各类扭角误差的敏感程度。首先，建立了机构的运动学模型，给出了可能发生的各类误差分类。以给定一定概率分布的数值误差为条件，应用数值方法对位姿正解进行了两种情况的计算和分析，即计算和分析了在误差不变的情况下机构末端操作器的位姿误差随时间的变化，以及扭角误差按照一定概率分布的前提下机构末端操作器在某一运动瞬时的位姿误差。通过分析和对比得到的数值结果和模拟图形，得出了各类扭角误差对机构运动平台影响的不同结果，按照其敏感程度，给出了源误差的大小。 |
| 英文摘要: |
| This paper takes a 4 DOF UPU parallel manipulator possessing the function of 3 translational and 1 revolute(3T1R) motion as a studying object to analyze parallel manipulators’ sensitivity to various kinds of twist angle errors that have an impact on manipulators’ DOF characteristics and kinematic errors. A kinematic model for manipulators is established and typical twist angle errors are enumerated. Based on the model and particular probability distribution, forward solution is solved and discussed in two cases by the numerical method. Firstly, the position and orientation error of the end effector changing with time is presented when error is fixed. Secondly, by using the probability distribution theory, the influence of error sources amplitude on the position and orientation error of manipulators in the particular time is assessed. With analyzing and comparing the numerical results and simulation illustrations, status of different twist angle errors acting on the moving platform are obtained. The error sources are estimated according to the sensitivity. |
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