Accuracy of Multibody Systems

摘要

A mathematical model is suggested and compact analytical expressions are defined for link position and orientation errors for systems of rigid bodies that are interconnected by arbitrary joints. No limitations on the type of kinematic chains in the system are imposed; i.e., the system may contain an arbitrary number of closed loops. In the mathematical model proposed, all practically important error sources are taken into account, namely errors in generalized coordinate control, errors due to the existence of clearances in the joints, and errors that result from inaccurate realization of link geometry. Numerical algorithms and software products for evaluation and statistical estimation of the accuracy characteristics of multibody systems are suggested.