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6自由度微傳動(dòng)平臺(tái)位姿誤差分析與精度補(bǔ)償
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國(guó)家自然科學(xué)基金資助項(xiàng)目（51275537）、上海市空間飛行器機(jī)構(gòu)重點(diǎn)實(shí)驗(yàn)室開(kāi)放課題資助項(xiàng)目（SM2014D201）和重慶大學(xué)機(jī)械傳動(dòng)國(guó)家重點(diǎn)實(shí)驗(yàn)室科研業(yè)務(wù)費(fèi)資助項(xiàng)目（SKLMT—ZZKT—2012MS05）


Posture Error Analysis and Precision Compensation of 6-DOF Micro Transmission Platform
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    摘要:

    為了提高微傳動(dòng)平臺(tái)的定位精度,，對(duì)幾何誤差進(jìn)行了分析,。利用微分關(guān)系構(gòu)造微傳動(dòng)平臺(tái)輸出位姿誤差與各結(jié)構(gòu)參數(shù)幾何誤差之間的映射關(guān)系，引入誤差權(quán)重系數(shù),，分析了各結(jié)構(gòu)參數(shù)對(duì)微傳動(dòng)平臺(tái)定位精度的影響,，建立了微傳動(dòng)平臺(tái)的精度補(bǔ)償模型。利用Matlab對(duì)微傳動(dòng)平臺(tái)的定位精度進(jìn)行計(jì)算仿真,，搭建實(shí)驗(yàn)平臺(tái)進(jìn)行實(shí)驗(yàn)測(cè)試,，仿真和實(shí)驗(yàn)結(jié)果表明，基于權(quán)重系數(shù)法建立的誤差模型合理,，并且通過(guò)建立的精度補(bǔ)償模型,，微動(dòng)平臺(tái)的定位誤差從補(bǔ)償前的20%~30%下降到了補(bǔ)償后的10%~15%，使微傳動(dòng)平臺(tái)的定位精度獲得了較大提高,。

    Abstract:

    In order to improve the positioning accuracy of micro transmission platform, the geometric errors were mainly analyzed. The mapping relationship between output pose errors of micro transmission platform and geometric errors of structural parameters was built through the method of differential relationship. And then the influence of structural parameters on the micro transmission platform positioning accuracy was analyzed by introducing the error weight coefficient, and the precision compensation model of micro transmission platform was established. Then a simulation calculation through Matlab software and an experiment test on the experimental platform were carried out. The results of simulation and experimental test showed that the error analysis model based on the weight coefficient method is reasonable, and what’s more, through the established precision compensation model, the micro transmission platform’s positioning error descended to 10%~15% after compensating, which was 20%~30% before compensating, and that made the micro transmission platform achieve a higher positioning accuracy.

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林超,才立忠,邵濟(jì)明,紀(jì)久祥.6自由度微傳動(dòng)平臺(tái)位姿誤差分析與精度補(bǔ)償[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2015,46(5):357-364. Lin Chao, Cai Lizhong, Shao Jiming, Ji Jiuxiang. Posture Error Analysis and Precision Compensation of 6-DOF Micro Transmission Platform[J]. Transactions of the Chinese Society for Agricultural Machinery,2015,46(5):357-364.

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  • 收稿日期:2015-01-27
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  • 在線發(fā)布日期: 2015-05-10
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