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Precision analysis method and device for parallel mechanism and electronic equipment

A technology of precision analysis and parallel connection, which is applied in the direction of electrical digital data processing, instrumentation, calculation, etc., can solve the problem of low calculation accuracy of parallel mechanism parameter precision, and achieve the effect of improving accuracy

Pending Publication Date: 2019-05-24
NORTH CHINA INST OF AEROSPACE ENG
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Problems solved by technology

[0004] In view of this, the object of the present invention is to provide an accuracy analysis method, device and electronic equipment of a parallel mechanism, so as to solve the technical problem of low calculation accuracy of parallel mechanism parameter accuracy existing in the prior art

Method used

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  • Precision analysis method and device for parallel mechanism and electronic equipment
  • Precision analysis method and device for parallel mechanism and electronic equipment
  • Precision analysis method and device for parallel mechanism and electronic equipment

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Embodiment 1

[0037] An accuracy analysis method of a parallel mechanism provided by an embodiment of the present invention, such as figure 1 As shown, the method includes:

[0038] Step S102, establishing a kinematics mathematical model of the parallel mechanism, wherein the kinematics mathematical model includes a plurality of identical branch chains.

[0039] Specifically, the parallel mechanism is mainly a six-chain parallel mechanism, and the categories of the six-branch parallel mechanism include: 6_6R, 6PUS, 6_P5R, 6UP, and 6_2RP3R. This paper takes the six-chain parallel mechanism of 6PUS as an example to build a model. The model contains 6 identical branches. Each branch includes 16 parameters of the series branch, 2 parameters of the hinge seat of the fixed platform, and the hinge seat of the moving platform 4 parameters, 22 parameters in total, the error of each parameter is the error source, among them, there are 5 passive rotation variables that do not belong to the structural...

Embodiment 2

[0135] An embodiment of the present invention provides an accuracy analysis device for a parallel mechanism, such as image 3 As shown, the device includes: an establishment module 31 , a decomposition module 32 , a calculation module 33 , a first combination module 34 and a second combination module 35 .

[0136] It should be noted that the establishment module 31 is used to establish a kinematics mathematical model of the parallel mechanism, wherein the kinematics mathematical model includes multiple identical branch chains. The decomposition module 32 is used to decompose each branch chain in the kinematics mathematical model into a DH model, a hinge seat model of a fixed platform, and a hinge seat model of a moving platform. The calculation module 33 is used to perform differential calculation on the DH model, the hinge seat model of the fixed platform, and the hinge seat model of the moving platform, and respectively obtain the DH parameter error model, the hinge seat err...

Embodiment 3

[0139] An electronic device provided by an embodiment of the present invention, such as Figure 4 As shown, the electronic device 4 includes a memory 41 and a processor 42, the memory stores a computer program that can run on the processor, and when the processor executes the computer program, the method provided by the first embodiment above is realized A step of.

[0140] see Figure 4, the electronic device also includes: a bus 43 and a communication interface 44, the processor 42, the communication interface 44 and the memory 41 are connected through the bus 43; the processor 42 is used to execute executable modules stored in the memory 41, such as computer programs.

[0141] Wherein, the memory 41 may include a high-speed random access memory (Random Access Memory, RAM for short), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory. The communication connection between the system network element and at least one other netwo...

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Abstract

The invention provides a precision analysis method and device of a parallel mechanism and electronic equipment. The precision analysis method comprises the steps of establishing a kinematics mathematical model of the parallel mechanism; decomposing each branch chain in the kinematics mathematical model into a DH model, a fixed platform hinge seat model and a movable platform hinge seat model; carrying out differential calculation on the DH model, the fixed platform hinge seat model and the movable platform hinge seat model to obtain a DH parameter error model, a platform hinge seat error modeland a movable platform hinge seat error model correspondingly; combining the DH parameter error model, the platform hinge seat error model and the movable platform hinge seat error model to obtain anerror of the whole branch chain; According to the method, the error of all branch chains is combined to obtain the full-parameter error model, and the full-parameter error model is calculated to obtain the full-error parameter Jacobian matrix of the motion mathematical model, so that the technical problem that the precision calculation accuracy of the parallel mechanism is low is solved, and theprecision calculation accuracy of the parallel mechanism is improved.

Description

technical field [0001] The invention relates to the technical field of parallel mechanisms, in particular to an accuracy analysis method, device and electronic equipment of a parallel mechanism. Background technique [0002] The parallel mechanism is formed by using multiple kinematic branch chains connected in parallel between the moving platform and the static platform. Since the parallel mechanism has a stronger load capacity than the series mechanism, the parallel mechanism has a broader application prospect. [0003] Parallel machine tool is a machine tool with simple structure but complex control formed by parallel mechanism. However, the manufacturer focuses on part design and does not adopt a global design method, resulting in low precision of parallel machine tool and obstacles to marketization. Therefore, the existing parallel mechanism parameter precision calculation accuracy is low. Contents of the invention [0004] In view of this, the object of the present ...

Claims

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Application Information

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IPC IPC(8): G06F17/50
Inventor 周万勇
Owner NORTH CHINA INST OF AEROSPACE ENG
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