摘要
多机悬吊系统在结构设计、制造与运动过程中存在几何参数误差,容易导致系统作业精度不足。以悬吊系统为研究对象,利用闭环矢量法建立了系统的运动学模型。从运动学参数中考虑原始误差,根据矩阵全微分法建立了被吊运物位姿误差模型。通过统计学中的灵敏度分析方法,研究了不同误差源对被吊运物精度的影响。结合实例,对系统进行了误差影响规律仿真,给出评估被吊运物误差响应的方法。所得结果不仅为精度设计提供了依据,还对实际工程应用具有一定的指导意义。
Geometric parameter errors exist in the structural design,manufacturing,and motion processes of multi-crane suspension systems,which easily lead to insufficient operational accuracy of the system.Taking the suspension system as the research object,a kinematic model of the system was established using the closed-loop vector method.Considering the original errors from kinematic parameters,a pose error model of the suspended object was developed based on the total differential method of matrices.Through sensitivity analysis methods in statistics,the influence of different error sources on the accuracy of the suspended object was investigated.Combined with practical examples,the error impact patterns of the system were simulated,and a method for evaluating the error response of the suspended object was proposed.The obtained results not only provide a basis for precision design,but also offer certain guidance for practical engineering applications.
作者
赵志刚
丁建坤
赵祥堂
王宝玺
郭鑫
冮政
ZHAO Zhigang;DING Jiankun;ZHAO Xiangtang;WANG Baoxi;GUO Xin;GANG Zheng(School of Mechanical Engineering,Lanzhou Jiaotong University,Lanzhou 730070,China)
出处
《机械强度》
北大核心
2025年第11期33-41,共9页
Journal of Mechanical Strength
基金
国家自然科学基金项目(51965032)
甘肃省自然科学基金重点项目(22JR5RA319)
甘肃省优秀博士生项目(23JRRA842)。
关键词
多机悬吊系统
运动学模型
误差模型
灵敏度分析
精度
Multi-crane suspension system
Kinematic model
Error model
Sensitivity analysis
Accuracy
