五轴并联铣床特征参数误差灵敏度分析

将并联机构等效为由串联机构构成的空间闭环机构，运用 D－ H方法系统研究了五轴并联铣床的特征参数误差对运动平台位姿误差的影响，揭示出特征参数沿机床各位姿方向误差灵敏度变化规律。仿真结果不仅证实了现有机床机构设计合理，而且为今后并联机床进一步精度设计提供了可靠依据。

The parallel mechanism is converted to spatial close loop one that is composed of series mechanism and the influence of the characteristic parameter errors to movable platform position and orientation error of 5－ degree of freedom parallel machine tool has been researched by means of D－ H method. The results show the error sensitivity of the characteristic parameters in direction of each position and orientation of machine tool. It is verified rationality of the mechanism design in existence and offers a reliable reference for next generation parallel machine tool design.

国家“九五”攻关课题资助项目!（ 96－ A22－ 0103);;中国科学院沈阳自动化所机器人学开放实验室资助项目!（ RL199807）