[1]张宁、杜金隆、凌静秀、黄文才、张炜.齿侧间隙对桁架机械手定位精度的影响[J].福建工程学院学报,2020,18(01):18-22.[doi:10.3969/j.issn.1672-4348.2020.01.004]
　ZHANG Ning,DU Jinlong,LING Jingxiu,et al.Influence of backlash on the positioning accuracy of truss manipulator[J].Journal of FuJian University of Technology,2020,18(01):18-22.[doi:10.3969/j.issn.1672-4348.2020.01.004]
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齿侧间隙对桁架机械手定位精度的影响()
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《福建工程学院学报》[ISSN:2097-3853/CN:35-1351/Z]

卷:
第18卷
期数:
2020年01期
页码:
18-22
栏目:
出版日期:
2020-02-25

文章信息/Info

Title:
Influence of backlash on the positioning accuracy of truss manipulator
作者:
张宁、杜金隆、凌静秀、黄文才、张炜
福建工程学院机械与汽车工程学院
Author(s):
ZHANG Ning; 2;  DU Jinlong;  LING Jingxiu;  HUANG Wencai;  ZHANG Wei
School of Mechanical and Automotive Engineering, Fujian University of Technology
关键词:
桁架机械手;  定位精度;  齿侧间隙;  传动稳定性
Keywords:
truss manipulator;  positioning accuracy;  backlash;  transmission stability
分类号:
TP241
DOI:
10.3969/j.issn.1672-4348.2020.01.004
文献标志码:
A
摘要:
为了探究齿侧间隙对桁架机械手定位误差的影响，综合考虑齿侧间隙导致的传动稳定性变化等对定位精度的影响，通过改变水平速度、竖直速度、齿侧间隙、负载4个因素进行L16(44)正交试验以及齿侧间隙变化的单因素试验。正交试验表明，以最终定位误差作为评价指标，水平速度、竖直速度、齿侧间隙、负载在影响桁架机械手的定位精度中都扮演着重要角色，对定位精度的因素影响主次为:齿侧间隙>负载>竖直速度>水平速度。齿侧间隙单因素试验结果证明:齿轮齿条系统必须留有一定齿侧间隙来保证正常传动；总体上齿侧间隙的增大对于定位精度的偏差影响呈现上升趋势，但在180~330μm范围内时，会在80μm的范围内小幅度波动。
Abstract:
In order to explore the influence of backlash on the positioning error of truss manipulator, and comprehensively consider the influence of the change of transmission stability caused by backlash on the positioning accuracy, L16（44） orthogonal test and single factor test on the change of backlash were carried out by changing the four factors: horizontal speed, vertical speed, backlash and load. The orthogonal test shows that with the final positioning error as the evaluation index, horizontal speed, vertical speed, backlash and load play important roles in the positioning accuracy of truss manipulator, and the primary and secondary factors affecting the positioning accuracy are backlash > load > vertical speed > horizontal speed. The single factor test results show that the rack and pinion system must have a certain clearance to ensure the normal transmission; on the whole, the influence of the increase of the clearance on the deviation of positioning accuracy shows an upward trend, but within the range of 180~330 μm, it will fluctuate slightly within the range of 80 μm.

参考文献/References:

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更新日期/Last Update: 2019-02-25