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基于S(P) [T]输出基和P输入基的空间立方机构是一具有6-DOF的解耦机构,通过增加辅助导轨和关节可以获得4种新构型,选取一种作为研究对象,立方机构可分解成两个并联机器人的串联组合,并联机器人的各支链均为一串联支链,利用并联机构和串联机构的运动学等效,考虑各分支末端误差对最终运动平台位姿误差的影响,提出了基于动态和静态因素的综合分析方法,并给出了主要的影响因素,并以实例的形式对研究结论进行了有效性验证,通过分析可以知道,辅助导轨和关节的增加使得机构在输出主轴末端的空间位置和姿态误差有减小的明显效果。
The cubic system based on S (P) [T] output and P input is a decoupling mechanism with 6-DOF. Four kinds of new configurations can be obtained by adding auxiliary rails and joints. One of them is selected as the research object, The cubic mechanism can be decomposed into a series combination of two parallel robots, each parallel chain of the parallel robot is a series of branches. Taking advantage of the kinematic equivalent of the parallel mechanism and the tandem mechanism, the posture error of each branch end to the final motion platform is considered , A comprehensive analysis method based on dynamic and static factors is proposed and the main influencing factors are given. The validity of the research conclusions is validated by examples. It can be seen from the analysis that the increase of auxiliary guide rails and joints makes The spatial position and attitude error of the mechanism at the end of the output spindle have been reduced significantly.