谭兴强,张 键,谢志江.风洞6_PUS并联支撑机器人运动误差建模与补偿[J].农业机械学报,2014,45(4):334-340.
Tan Xingqiang,Zhang Jian,Xie Zhijiang.Motion Error Modeling and Compensating for 6_PUS Parallel Robot of Wind Tunnel Support System[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(4):334-340.
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风洞6_PUS并联支撑机器人运动误差建模与补偿   [下载全文]
Motion Error Modeling and Compensating for 6_PUS Parallel Robot of Wind Tunnel Support System   [Download Pdf][in English]
投稿时间:2013-04-11  
DOI:10.6041/j.issn.1000-1298.2014.04.053
中文关键词:  机器人 并联机构 风洞 支撑机构 误差建模 误差分析
基金项目:国家“995工程”二期国防领域科技国家重大专项资助项目(20083001.HT12)
作者单位
谭兴强 攀枝花学院 
张 键 攀枝花学院 
谢志江 重庆大学 
中文摘要:针对风洞6自由度并联支撑机器人,利用单支链D-H参数方法和摄动法建立了其运动误差模型,编写了误差模型仿真程序。根据风洞实验所需的6种典型运动模式,分析了不同模式下并联支撑机器人输出运动位姿的误差,得到了典型运动模式的误差变化规律。在风洞并联支撑机器人的构件设计和装配过程进行了针对性的误差控制,使设计和制造的并联支撑机器人精度达到了风洞实验的要求,并通过在风洞实验中嵌入与运动误差仿真类似的误差估算程序,再对风洞实验中被试模型的位姿误差进行补偿,实验证明这种方法提高了风洞实验数据的精度。
Tan Xingqiang  Zhang Jian  Xie Zhijiang
Panzhihua University;Panzhihua University;Chongqing University
Key Words:Robot Parallel mechanism Wind tunnel Support system Error model Error analysis
Abstract:Aiming at a kind of new 6-DOF wind tunnel support parallel robot, using the method of D-H single-chain, and together with the method of parameters-perturbation, the motion error model of this support parallel robot used in wind tunnel was established, and simulation program based on this motion error model was made. According to six kinds of typical motion mode of wind tunnel test, six kinds of posture errors of different motion mode of this parallel support system was analyzed and error curves of typical motion mode were also get by simulation. Using the motion error models obtained from the simulation, the corresponding error controlling methods was carried during this parallel support robot components designing and assembling, and ensuring the design and manufacture accuracy of the parallel support robot reached the requirement of wind tunnel tests, and error estimation program which was similar to that of the motion error simulation was embedded in the wind tunnel test to compensate the motion errors of posture and location of tested aircraft model, and it was proved in practice that the precision of wind tunnel test data was improved.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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