一种基于几何约束失效和运动误差节点的完整误差建模方法

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory Pub Date : 2025-03-18 DOI:10.1016/j.mechmachtheory.2025.105984

Ziyue Li, Weizhong Guo

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引用次数: 0

摘要

本文提出了一种完整而通用的机构误差建模方法。通过对误差产生机理的分析，明确了机构误差产生的根本原因是机构约束失效。介绍了运动学误差节点的概念，作为机构误差分析的基本单位，介绍了利用运动学误差节点方法进行误差分析的基本原理和方法。给出了一种简便有效的绘制KEN图的方法。通过简单的KEN图和递推公式，可以直观、简洁地得到机构的误差模型。采用KEN方法实现了平面3-RRR和空间3-RPS机械手的误差建模，并对两种机构的误差敏感性进行了分析，验证了该方法的有效性。

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A complete approach for error modeling based on failure of geometrical constraint and kinematic error node (KEN)

This paper proposes a complete and general method for mechanism error modeling. By analyzing the mechanism of error generation, it is clarified that the root cause of mechanism errors is the failure of mechanism constraints. The concept of Kinematic Error Node (KEN) is introduced as the basic unit for mechanism error analysis, along with the fundamental principles and methods for conducting error analysis using the KEN approach. A convenient and efficient method for drawing KEN graph is provided. through which the error model of the mechanism can be obtained intuitively and concisely via simple KEN graph drawing and recursive formulas. The KEN method is used to realize the error modeling of planar 3-RRR and spatial 3-RPS manipulator, and the error sensitivity of the two mechanisms is analyzed to verify the effectiveness of this approach.

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来源期刊

Mechanism and Machine Theory 工程技术-工程：机械

CiteScore

9.90

自引率

23.10%

发文量

450

审稿时长

20 days

期刊介绍： Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal. The main topics are: Design Theory and Methodology; Haptics and Human-Machine-Interfaces; Robotics, Mechatronics and Micro-Machines; Mechanisms, Mechanical Transmissions and Machines; Kinematics, Dynamics, and Control of Mechanical Systems; Applications to Bioengineering and Molecular Chemistry