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本文主要以5R—C机构(R表示转动副,C表示圆柱副)为例,进行了空间六杆机构的误差分析与多目标优化综合。为便于上机计算,对于多杆空间机构误差分析中所用的偏导数,文中利用机构封闭性的各种等同条件,通过含有较少中间运动变量的线性方程组求得。对于各种常见运动副中的间隙误差矢量采取了折算为有关结构参数的附加量的方法,通过所建立的随机模型进行了统计分析以得到实际影响大的统计量。在误差分析的基础上,本文进一步对空间连杆机构提出了通用性较强并且考虑公差和间隙的多目标优化程序。
In this paper, the error analysis and multi-objective optimization synthesis of the space six-bar mechanism are mainly carried out by taking the 5R-C mechanism (R as the rotary pair and C the cylindrical pair) as an example. In order to facilitate the on-machine calculation, the partial derivatives used in the error analysis of multi-rod space bodies are obtained by using the equations of linear equations with less intermediate motion variables by using various equivalent conditions of the mechanical seal. The method of calculating the additional error of the clearance error vector in the common motion pairs with the related structural parameters is adopted. Statistical analysis is conducted through the established stochastic model to obtain the statistically significant statistics. On the basis of error analysis, this paper further proposed a multi-objective optimization program which is more versatile and takes tolerance and clearance into consideration.