平面低速重载机构位姿误差分析中的转动副间隙等效计算方法

摘要

Aiming at the structure and movement characteristics of the planar heavy-duty mechanisms with low speed,this paper considered comprehensively the influences of structure errors,position errors and the clearances in revolute pairs on the pose errors.Based on the basic principles of the differential method,a new equivalent calculation method of the clearances was proposed,which were equivalent to the structure errors and position errors of the components,and a mathematical model of pose errors was established.Finally,by the collaborative simulations of MATLAB and ADAMS,the pose error curves were obtained.The calculations may provide the references for the tolerance designs of components and the error analysis of mechanisms.%针对平面低速重载机构的结构和特点,综合考虑构件的结构误差、位置误差和转动副间隙对位姿误差的影响,基于微分原理,提出了一种将转动副间隙等效到结构误差和位置误差上的间隙等效计算方法,并建立了统一的位姿误差数学模型.利用ADAMS和MATLAB仿真,得到了机构的位姿误差曲线,为零件的公差设计和机构的误差分析提供参考.