Kinematics Error Modeling and Analysis of 3RPS Parallel Mechanism
To improve the kinematic accuracy of the XYZ-3RPS six-axis horizontal hybrid machine tool,the kinematic parame-ters error model of 3RPSparallel mechanism was established.Firstly,the geometric error sources of the 3RPSparallel mechanism was analyzed;Then,based on the closed-loop vector differential method,the mapping model of 27 structural parameter errors of the 3RPS parallel mechanism,including the position errors of hinge points,the direction errors of rotating pair axis,and the bar length errors of driving branch chains at zero position,to the end pose errors was established.Finally,a simulation experiment is designed,using the virtual prototype technology of ADAMS to obtain the actual end pose errors of the mechanism.By comparing with the results of the error model,it is verified that the 27 structural parameters analyzed are within the range of(0.1～0.2)mm,the position errors solution accuracy of the error model is more than 0.01mm,and the attitude errors solution accuracy is more than0.01degree.Further numerical verification shows that the accuracy of the error model will be significantly improved with the decrease of the structural parameter error values,which provides a theoretical basis for error modeling and kinematic calibration of3RPSand other low degree of freedom parallel mechanisms.
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维普
