2025-04-24 上海交通大学 (SJTU)
＜関連情報＞
- https://en.sjtu.edu.cn/news/4966
- https://www.sciencedirect.com/science/article/abs/pii/S0094114X25000734
幾何学的拘束と運動学的エラーノード（KEN）の故障に基づくエラーモデリングのための完全なアプローチ A complete approach for error modeling based on failure of geometrical constraint and kinematic error node (KEN)
Ziyue Li, Weizhong Guo
Mechanism and Machine Theory Available online: 18 March 2025
DOI:https://doi.org/10.1016/j.mechmachtheory.2025.105984
Highlights
- Study the causes and mechanisms of mechanism errors.
- Proposes a complete and general approach for mechanism error modeling.
- Propose Kinematic Error Node(KEN) as the basic unit of mechanism error analysis.
- Clarify the drawing and calculation criteria of KEN method.
Abstract
This paper proposes a complete and general method for mechanism error modeling. By analyzing the mechanism of error generation, it is clarified that the root cause of mechanism errors is the failure of mechanism constraints. The concept of Kinematic Error Node (KEN) is introduced as the basic unit for mechanism error analysis, along with the fundamental principles and methods for conducting error analysis using the KEN approach. A convenient and efficient method for drawing KEN graph is provided. through which the error model of the mechanism can be obtained intuitively and concisely via simple KEN graph drawing and recursive formulas. The KEN method is used to realize the error modeling of planar 3-RRR and spatial 3-RPS manipulator, and the error sensitivity of the two mechanisms is analyzed to verify the effectiveness of this approach.
