关键词: 平面低速重载机构, 位姿误差, 转动副, 间隙, 微分法

Abstract: Aiming at the structure and movement characteristics of the planar heavy-duty mechanisms with low speed, this paper considered comprehensively the influences of structure errors, position errors and the clearances in revolute pairs on the pose errors. Based on the basic principles of the differential method, a new equivalent calculation method of the clearances was proposed, which were equivalent to the structure errors and position errors of the components, and a mathematical model of pose errors was established. Finally, by the collaborative simulations of MATLAB and ADAMS, the pose error curves were obtained. The calculations may provide the references for the tolerance designs of components and the error analysis of mechanisms.

Key words: planar heavy-duty mechanism with low speed, pose error, revolute pair, clearance, differential method