CAJ | 학술논문

面向大型结构件调姿、天线跟踪及快速定位等应用需求,研究三转动自由度并联机构3-PSU&S的精度设计方法. 首先,利用螺旋理论建立该机构的误差映射模型,并将影响机构末端姿态精度的几何误差分离为可补偿误差与不可补偿误差2类. 其次,借助区间分析理论,提出不可补偿误差的灵敏度指标,并通过全域灵敏度分析揭示各项不可补偿误差对机构末端姿态精度的影响规律. 然后,以灵敏度指标值为分配权重,建立各项不可补偿误差的优化分配模型,在给定精度约束下,借助遗传算法将难以实现的不可补偿误差的公差值松弛至最大可行区间. 最后,通过蒙特卡洛仿真验证了所提出精度设计方法的有效性.
면향대형결구건조자、천선근종급쾌속정위등응용수구,연구삼전동자유도병련궤구3-PSU&S적정도설계방법. 수선,이용라선이론건립해궤구적오차영사모형,병장영향궤구말단자태정도적궤하오차분리위가보상오차여불가보상오차2류. 기차,차조구간분석이론,제출불가보상오차적령민도지표,병통과전역령민도분석게시각항불가보상오차대궤구말단자태정도적영향규률. 연후,이령민도지표치위분배권중,건립각항불가보상오차적우화분배모형,재급정정도약속하,차조유전산법장난이실현적불가보상오차적공차치송이지최대가행구간. 최후,통과몽특잡락방진험증료소제출정도설계방법적유효성.
The accuracy design of a parallel mechanism with three rotational degrees of freedom was studied, which might find its applications in large components pose-adjusting, satellite antenna tracking and high-speed positioning. Firstly, an error model of the mechanism was established by means of the screw theory, in which the compensable and non-compensable errors associated with parts were separated effectively. In the light of interval analysis theory, an appropriate sensitivity index was proposed and utilized for evaluating the influences of non-compensable errors with respect to pose errors of the moving platform. Based upon the sensitivity index, an accuracy synthesis problem subject to accuracy constraints was solved by genetic algorithms, whose objective was to maximize feasible intervals of design variables, ie, the non-compensable errors. Finally, the accuracy design method was validated through the Monte Carlo simulation.