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对低速运动带间隙空间2-RSSS机构的误差展开研究,首先建立了带间隙的空间2-RSSS机构的误差模型,并基于二力杆假设把约束副间隙误差转化成为杆长误差,在保持精度的条件下简化了误差模型.其次推导了敏度矩阵的参数化表示,并建立了该机构的误差仿真模型,求解了敏度矩阵的参量,该敏度矩阵解法结合了符号推导的规律性明显和数值计算结果精确的优势.最后基于数值仿真验证了近似敏度矩阵求解的有效性,并对该机构的误差进行了分析,给出了在确定加工精度条件下约束副间隙影响指向误差的关键参数以及这些关键参数的优化设计准则.
Firstly, the error model of 2-RSSS mechanism with space is established. Based on the assumption of the two-force lever, the constraint of secondary gap error is transformed into the error of rod length, The error model is simplified.Secondly, the parameterized representation of the sensitivity matrix is deduced, and the error simulation model of the mechanism is established to solve the parameters of the sensitivity matrix.The method of the sensitivity matrix combines with the regularity of the symbol derivation And the numerical results are more accurate.Finally, the validity of the approximate sensitivity matrix is verified based on numerical simulation and the error of the mechanism is analyzed. The key to the effect of the restraining secondary clearance on the pointing error is given under the condition of determining the machining accuracy Parameters and optimization design guidelines for these key parameters.