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为了分析3-RPS并联机构在整个工作空间内各个位姿参数对位姿误差的影响程度,并且使该机构在整个工作空间内都满足精度要求,利用正交设计的思想对该机构进行了精度分析与精度综合.根据正交设计的思想,把该机构的3个位姿参数看成对位姿误差有影响的3个因素,用位姿误差的极差值作为敏感系数,通过极差分析得到了位姿参数对位姿误差的影响程度.以敏感系数的比值为依据合理划分各个因素的水平数,使排列的正交表为精度综合提供更加合理的位姿,对表中的各个位姿进行精度综合,得到了给定精度要求下的21项几何原始误差的公差值.结果表明:用正交设计的思想可以分析清楚位姿参数对位姿误差的影响程度,精度综合结果使机构在整个工作空间内满足精度要求,为物理样机的研制提供了参考.
In order to analyze the influence of each pose parameter on pose error of the 3-RPS parallel mechanism in the whole working space, and to make the mechanism meet the precision requirements in the entire work space, the accuracy of this mechanism was evaluated by the orthogonal design idea Analysis and precision synthesis.According to the idea of orthogonal design, considering the three pose parameters of the institution as three factors that have an impact on pose error, the difference between pose errors is taken as the sensitivity coefficient, The degree of influence of pose parameters on pose error is obtained.According to the ratio of sensible coefficient, the level numbers of each factor are reasonably divided so that the arranged orthogonal tables provide a more reasonable posture for the accuracy and comprehensiveness, The results show that the orthogonal design can be used to analyze the influence of attitude and attitude parameters on pose error and the accuracy of the results The mechanism meets the precision requirements in the entire working space and provides a reference for the development of the physical prototype.