CAJ | 학술논문

通过分析Stewart单三角平台机构各个运动副的安装误差和制造误差以及这些误差对Jacobian矩阵的影响,利用静力影响系数GF f和Jacobian矩阵之间的对偶关系,提出了基于广义力平衡原理Stewart单三角平台机构的标定方法.并运用该方法通过理论推导直接给出了参数标定的解析式,再结合最小二乘法拟合出实际的静力影响系数GF f ,最终标定出各个铰链点的空间坐标.为提高并联机构平台的定位精度提供了一种强有力的方法.
통과분석Stewart단삼각평태궤구각개운동부적안장오차화제조오차이급저사오차대Jacobian구진적영향,이용정력영향계수GF f화Jacobian구진지간적대우관계,제출료기우엄의력평형원리Stewart단삼각평태궤구적표정방법.병운용해방법통과이론추도직접급출료삼수표정적해석식,재결합최소이승법의합출실제적정력영향계수GF f ,최종표정출각개교련점적공간좌표.위제고병련궤구평태적정위정도제공료일충강유력적방법.
A method based on generalized force principle which calibrates the Stewart single triangle mechanism was proposed with adopting the dual relation between Jacobian matrix and static influence coefficient GFf ,and through analyzing both the installation errors and manufacturing errors of each kinematic pair and the influences to the certain Jacobian matrix on account of these errors. Moreover,analytical formulas calibrated by parameters were directly given through theoretical derivation by using this method,then the actual static influence coefficient GFf was solved by combined with the least squares method,finally the space coordinates for each hinge point were calibrated. A powerful method is provided for improving the location accuracy of parallel mechanism platform.