论文部分内容阅读
设计了一种由双级并联机构组成的位姿精调试验平台 ,分析了平台上每个铰链点的位置误差和各支链的长度误差对试验平台末端执行器运动精度的影响 ,建立了试验平台末端误差的数学模型。仿真结果表明 ,该机构的位姿误差具有线性叠加性 ,这种串并联平台末端误差的相对变化量很小 ,基于该构型的试验平台可达到较高运动精度。
A precision positioning test platform composed of two-stage parallel mechanism was designed. The influence of the position error of each hinge point and the length error of each branch on the accuracy of the end effector of the test platform was analyzed. The experiment Mathematical model of platform end error. The simulation results show that the pose error of the mechanism has a linear superposition, and the relative variation of the end-of-line error of the series-parallel platform is very small. Based on this configuration, the experimental platform can achieve higher motion accuracy.