一种对接机构的误差分析与可靠度分析
Error and Reliability Analysis of Docking Mechanism
戴萍 1王清运2
作者信息
- 1. 南京理工大学机械工程学院,江苏南京 210094
- 2. 江苏金陵智造研究院有限公司,江苏南京 210006
- 折叠
摘要
为满足大型部件的对接工作要求,采用一种6自由度对接调姿机构.通过D-H法对机构建立运动学数学模型,进行正逆向运动学分析.对机构末端进行位姿误差分析与可靠度分析,得到末端位姿误差与各关节运动学参数之间的关系,分析出对末端误差影响最大的误差源,为后续提高精度提供理论依据.
Abstract
In order to meet the docking requirements of large components,a 6-DOF docking attitude adjustment mechanism is adopted.The kinematics mathematical model of the mechanism is established by D-H method,and the forward and inverse kinematics are analyzed.The position and pose error and reliability of the end of the mechanism are studied to obtain the relationship between the position and pose error of the end and the kinematics parameters of each joint,and the error source grealy affecting the end error is analyzed,which provides a theoretical basis for the subsequent improvement of accuracy.
关键词
对接机构/运动学/误差分析/可靠度分析Key words
docking mechanism/kinematics/error analysis/reliability analysis引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据