面向运动精度的少自由度并联机构可靠性评估与设计

项目名称： 面向运动精度的少自由度并联机构可靠性评估与设计

项目编号： No.51205052

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 机械工程学科

项目作者： 杨强

作者单位： 东北大学

项目金额： 25万元

中文摘要： 并联机构具有结构刚度大、承载能力高等优点。从其出现至今，并联机构一直是国际上研究的热点。目前，国外在并联机器人和并联机床产业化方面已经取得了突破性进展，但国内并联机构在生产实践中的应用情况并不十分理想，其中精度问题是制约其能否实际应用的关键。以往并联机构运动精度分析中，往往不考虑误差的随机性，造成评价结果不准确。本课题从机构运动学和动力学入手，在综合考虑输入误差(尺寸误差、间隙误差、驱动误差等)随机性，质量、刚度、工作载荷等动力学参数随机性和各误差源之间耦合性的基础上，建立并联机构运动精度可靠性的分析评价模型，进而利用智能优化算法开展基于运动精度可靠性指标的并联机构设计方法的研究。作为并联机构应用的共性基础理论问题，开展典型少自由度并联机构运动精度可靠性研究有助于攻破影响国内并联机构产业化的瓶颈，对于抢占先进制造技术下一代科技制高点具有重要的理论和现实意义。

中文关键词： 并联机构；运动可靠性；Delta机构；误差；仿真

英文摘要： Parallel mechanism (PM) \ robot has an extensive applying prospect owing to its various advantages of high stability and stiffness, strong laden ability. From its appearance, PM has become a popular research field in the world. At present, parallel robots and parallel kinematic machines have played a key role in several industrial fields, which offer great contributions to the development of economy in main western countries,whereas, our nation's research on this field is still laggard especially owing to the accuracy problem which can determine whether PM will succeed in industrialization. Accuracy analysis of the parallel mechanisms in previous studies ignored the randomness of each input error component, which leads to an imprecise evaluation result. In this study, on the basis of mechanical kinematics and dynamics, considering the randomness of input errors (dimension related errors,errors originating at the joints, driving errors, etc.) and some dynamics parameters (quality, rigidity, load, etc.), as well as the interference of each error, an evaluation method which based on the kinematic accurate reliability is established. Further, a reliability designing theory for parallel mechanism is formated applying intelligent optimization algorithm。As a basic theoretical problem for the application of parallel mec

英文关键词： parallel mechanism；kinematic reliability；Delta；errors；simulation