风洞捕获轨迹试验六自由度机构运动学与误差分析
贾波1,宋代平1,全先轲2,姜安林1
(1.重庆大学 机械传动国家重点实验室,重庆 400044;2.佛山美的集团公司,广东 佛山 528311)
摘要:为提升风洞捕获轨迹试验的水平,设计了一套模拟外挂物从母机分离运动轨迹特性的六自由度机构。通过D-H法进行运动学分析,建立该机构运动学方程,利用解析法对机构进行逆运动学求解。采用微分传递法建立基于D-H参数的静态误差模型,推导出末端外挂物模型位姿误差与D-H参数误差之间的数学表达式,然后采用奇异值分解改进的最小二乘法进行迭代求解辨识出参数误差,在此基础上随机选取100组位姿数据,分析比较了补偿前与补偿后的位置误差,结果表明经过参数辨识后的补偿法能够有效地提高六自由度机构末端的定位精度。
关键词:六自由度机构;D-H参数法;运动学;误差模型
中图分类号:O311 文献标志码:A doi:10.3969/j.issn.1006-0316.2019.06.003
文章编号:1006-0316 (2019) 06-00013-05
Kinematics and Error Analysis of 6-DOF Mechanism in Wind Tunnel Captive Trajectory System Test
JIA Bo1,SONG Daiping1,QUAN Xianke2,JIANG Anlin1
( 1.State Key Laboratory of Mechanical Transmission , Chongqing University, Chongqing 400044, China;2. Foshan Midea Group, Foshan 528311, China )
Abstract: In order to improve the research ability of wind tunnel capture trajectory test, a 6-DOF mechanism is designed to simulate trajectory characteristics of external store separation from mother machine. Firstly, Kinematics analysis of 6-DOF mechanism is carried out by using the D-H parameter method, and then the kinematics equation was established, therefore the mechanism of inverse kinematics is solved by using the analytic method. Secondly, the structure of transmission error model were established by using differential method based on 6-DOF mechanism of D-H parameters. Mathematical expression was deduced to store end pose error and kinematic parameter errors. Then by using least squares method improved from singular value decomposition, the parameters of errors were iteratively identified. On this basis, 100 groups of position data were randomly selected, and the position error before and after compensation were analyzed and compared. The results show that the compensation method of parameter identification can effectively improve the positioning accuracy of the 6-DOF mechanism. 
Key words:6-DOF mechanism;D-H parameter method;kinematics;error model
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收稿日期:2019-02-21
作者简介:贾波(1993-),男,重庆人,硕士,主要研究方向为机械设计;宋代平(1978-)男,四川绵阳人,工学博士,副教授,主要研究方向为现代机械设计理论及方法。
 

 

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