基于三坐标定位器的大部件调姿机构误差分析

作者：李晨，方强，李江雄 日期：2010-06-21/span> 浏览：2946 查看PDF文档

基于三坐标定位器的大部件调姿机构误差分析
李晨，方强，李江雄
（浙江大学 现代制造工程研究所，浙江 杭州 310027）

摘要：针对基于3个三坐标定位器联动实现大型部件位姿调整机构的位姿误差问题，采用多体运动学理论分析了机构运动学关系，在不考虑大部件变形的情况下，利用矩阵微分法并结合冗余驱动的特点建立了该调姿机构的位姿误差模型，从而可定量分析各原始误差对调姿对象位姿误差的影响，并通过蒙特卡洛法对调姿误差进行了仿真研究。为获取各原始误差对调姿误差的影响比重，对机构进行了误差敏感度分析，研究结果表明，各导轨的直线度、平行度及三坐标轴间的垂直度等引起的角误差对应的敏感度较大。
关键词：三坐标定位器；位姿误差；多体运动学；冗余驱动；蒙特卡洛法；敏感度
中图分类号：TH115文献标识码：A文章编号：1001-4551(2010)03-0006-08

Error analysis of 3axis locator based pose adjustment mechanism

LI Chen, FANG Qiang, LI Jiangxiong
(Institute of Modern Manufacturing Engineering, Zhejiang University, Hangzhou 310027, China)

Abstract: Aiming at getting the pose error of a large bodies’ pose adjustment mechanism, which runs by cooperative motion of three 3aixs locators, using multibody kinematic theory, the kinematic relationship of the mechanism was analyzed. Without considering deformation of the large bodies, the error model of the pose adjustment mechanism was established with the methods of matrix differential and characteristics of the redundant drive, thus the pose error of the large bodies can be quantified with all original errors. Simulation analysis of the pose error was done with the Montecarlo method. In order to acquire the proportion of each original error in the final pose error, error sensitivity analysis was done. The test results indicate that the proportion of the angle errors caused by straightness, parallelism and verticality are more larger.
Key words: 3axis locator; pose error; multibody kinematic theory; redundant drive; Montecarlo method; error sensitivity