R(RPS&RP)&2-UPS并联机构位置精度可靠性建模与分析

doi:10.3901/JME.2023.15.062

机械工程学报 ›› 2023, Vol. 59 ›› Issue (15): 62-72.doi: 10.3901/JME.2023.15.062

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R(RPS&RP)&2-UPS并联机构位置精度可靠性建模与分析

杨逸波, 汪满新

南京理工大学机械工程学院南京 210094

收稿日期:2022-08-07 修回日期:2022-12-05 出版日期:2023-08-05 发布日期:2023-09-27
通讯作者: 汪满新(通信作者),男,1987年出生,博士,副教授,硕士研究生导师。主要研究方向为机构学、机器人技术和功能部件。E-mail:mxwang@njust.edu.cn
作者简介:杨逸波,男,1999年出生。主要研究方向为机构学。E-mail:952386025@qq.com
基金资助:
国家自然科学基金资助项目(51605225)

Modeling and Analysis of Position Accuracy Reliability of R(RPS&RP)& 2-UPS Parallel Mechanism

YANG Yibo, WANG Manxin

School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094

Received:2022-08-07 Revised:2022-12-05 Online:2023-08-05 Published:2023-09-27

摘要/Abstract

摘要： 为提高并联机构末端位置精度可靠性,确定各误差源对机构末端位置精度可靠性的影响规律,以R(RPS&RP)&2-UPS三自由度并联机构为对象开展位置精度可靠性建模与分析,该机构由一条串接一转动副的1T1R平面并联运动链和两条空间无约束主动支链组成,具有与著名Tricept机器人中UP&3-UPS并联机构相同的运动模式。建立考虑基本尺寸误差、杆长误差及关节间隙的位置精度模型,进而分别利用四阶矩法和蒙特卡洛法提出机构位置精度可靠性计算模型,算例表明采用四阶矩法计算可靠性与采用蒙特卡洛法结果很接近,但可大幅降低计算量。利用四阶矩法研究各误差源对机构位置精度可靠性的影响规律,结果表明杆长误差、关节间隙和方位是影响机构末端位置精度可靠性的关键因素,为R(RPS&RP)&2-UPS机构的制造和装配误差合理制定提供参考。

关键词: 并联机构, 位置精度, 可靠性

Abstract: In order to improve the end position accuracy reliability of the parallel mechanism and to determine the influence law of each error source on the end position accuracy reliability of the mechanism, a three-degree-of-freedom R(RPS&RP)&2-UPS parallel mechanism is used to model and analyse the position accuracy reliability. The mechanism is consisted of a 1T1R planar parallel kinematic chain with one rotating sub in series and two spatial unconstrained active branch chains, and has the same motion pattern as the UP&3-UPS parallel mechanism in the famous Tricept robot. A position accuracy model considering the basic dimensional error, rod length error and joint clearance is developed, and then the reliability calculation model of position accuracy of the mechanism is proposed by using the fourth-order moment method and the Monte Carlo method respectively. An example shows that the reliability calculation results of the fourth-order moment method is very close to that of the Monte Carlo method, but the calculation cost can be greatly reduced. The fourth-order moment method is used to study the influence of each error source on the positional accuracy reliability of the mechanism. The results show that the rod length error, joint clearance and orientation are the key factors affecting the position accuracy reliability, providing a reference for the rational determination of the manufacturing and assembly errors of the R(RPS&RP)&2-UPS mechanism.

Key words: parallel mechanism, position accuracy, reliability

中图分类号:

TH112

杨逸波, 汪满新. R(RPS&RP)&2-UPS并联机构位置精度可靠性建模与分析[J]. 机械工程学报, 2023, 59(15): 62-72.

YANG Yibo, WANG Manxin. Modeling and Analysis of Position Accuracy Reliability of R(RPS&RP)& 2-UPS Parallel Mechanism[J]. Journal of Mechanical Engineering, 2023, 59(15): 62-72.

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R(RPS&RP)&2-UPS并联机构位置精度可靠性建模与分析

Modeling and Analysis of Position Accuracy Reliability of R(RPS&RP)& 2-UPS Parallel Mechanism

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