三平移并联机构的精度分析及结构参数对其影响分析

摘要

以三平移并联机构为对象,通过运动学分析,得出该机构的速度雅可比矩阵.从理想状态的角度建立误差模型,并通过数值计算的方式,分析各种因素对机构精度的影响.通过分析绘制的相关曲线图,评定了机构参数的影响范围,并优化了部分参数,对并联机构的结构设计有一定的指导意义.%Based on the three-body translation parallel mechanism, the mechanism's velocity Jacobian matrix was given based on kinematic analysis. Error model was established from the ideal perspective and the influences of various factors on the mechanism accuracy were analyzed by the way of numerical calculation. By studying the relevant curves, the influencing scope of the structure parameters was evaluated, and some parameters were optimized. It has certain directive significance to structural design of the parallel manipulator.