含运动副间隙平面机构位姿误差分析

将误差分析理论、优化技术与虚位移原理相结合,讨论了含运动副间隙平面机构的位姿误差,提出了一种机构位姿误差数值计算方法.利用虚位移原理,讨论了平面机构原始误差与输出端位姿误差间的映射关系;建立了平面机构中常见原始误差的数学模型,推导出平面机构输出端位姿误差表达式.根据优化思想,进一步探讨了输出端位姿误差的极值表达式.在已知各构件原始误差的情况下,通过计算机程序可以迅速得到含间隙的平面机构输出端的位姿误差.与其他同类方法相比,这种方法概念清晰,无需施加特定的外力,通用性强.

Pose Error Analysis of Planar Mechanism with Joint Clearance

The theories of error analysis,optimization and virtual displacement are combined together to discuss the pose error of planar mechanism with joint clearance,and a calculation method is proposed for the pose error of planar mechanism.Based on the principle of virtual displacement,the mapping relation between the original error of a planar mechanism and its output end pose error is analyzed.Then,a mathematical model of the original error that is commonly found in planar mechanism is presented,and the pose error for the output end is also derived.Finally,an extremum expression is explored by virtue of the idea about optimization for the output end pose error.In comparison with other similar methods,the proposed one has the advantages of clean reasoning and high versatility without specifically external force required to act on.