6UPS并联机构杆长误差标定及其对动平台运动的影响分析

分析了不同误差对并联机构的影响,尤其是杆长误差对动平台姿态误差的影响.建立了采用并联机构运动学反解模型的矢量法误差求解模型;针对6UPS并联刀具机构的结构特点,使用支链分析方法,对由杆长误差引起的动平台误差变化趋势及变化的敏感性方向进行了分析.使用激光干涉仪完成了误差测量实验,使用多组姿态数据的不同组合进行误差计算,获得了优化的杆长误差数据.完成了杆长误差对动平台误差变化影响的数值分析与矢量合成两种方法的验证.

Calibration of the 6UPS Parallel Grinding Machine by Vector Method

There are many error factors while the 6UPS parallel grinding machine works, especially the effect of legs length errors on the platform error is analyzed. Based on analyzed special features of the parallel machine, the effect of legs length errors on the directional of platform error is studied. The vector calibration method is studied Using the dual frequency laser interferometer, a practical calibration experiment that is abided by the vector method is performed. After the experiment, all of the structural parameters of the machine were obtained. Use different group of the orientation and position of the platform, the optimizing legs error parameters can be obtained, and the effect of legs length errors on the directional of platform error is verified by numerical analyzing method and vector method.