一種對(duì)接機(jī)構(gòu)的誤差分析與可靠度分析

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摘 要：為滿足大型部件的對(duì)接工作要求，采用一種6自由度對(duì)接調(diào)姿機(jī)構(gòu)。通過(guò)D-H法對(duì)機(jī)構(gòu)建立運(yùn)動(dòng)學(xué)數(shù)學(xué)模型，進(jìn)行正逆向運(yùn)動(dòng)學(xué)分析。對(duì)機(jī)構(gòu)末端進(jìn)行位姿誤差分析與可靠度分析，得到末端位姿誤差與各關(guān)節(jié)運(yùn)動(dòng)學(xué)參數(shù)之間的關(guān)系，分析出對(duì)末端誤差影響最大的誤差源，為后續(xù)提高精度提供理論依據(jù)。

關(guān)鍵詞：對(duì)接機(jī)構(gòu)；運(yùn)動(dòng)學(xué)；誤差分析；可靠度分析

中圖分類號(hào)：TH115  文獻(xiàn)標(biāo)志碼：B  文章編號(hào)：1671-5276（2024）02-0079-04

Error and Reliability Analysis of Docking Mechanism

DAI Ping1， WANG Qingyun2

（1. School of Mechanical Engineering，Nanjing University of Science and Technology，Nanjing 210094，China；

2. Jiangsu Jinling Institute of Intelligent Manufacturing Co.， Ltd.， Nanjing 210006，China）

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.

Keywords：docking mechanism；kinematics；error analysis；reliability analysis

0 引言

大型精密部件的對(duì)接裝配是決定產(chǎn)品制造效率和質(zhì)量的關(guān)鍵環(huán)節(jié)。（剩余4783字）