中文摘要：

为实现大型船用螺旋桨的高精度、高效加工,提出了基于混联机构的双刀对称加工方案.介绍了加工装置的机构组成,对影响加工精度的结构参数的标定方法进行了研究.针对装置运动存在耦合的特点,将装置的串联机构与并联机构进行分离标定,建立串联机构与并联机构的结构误差模型,对两种结构参数的辨识方法进行研究,并采用Levenberg-Marquardt优化算法对非线性方程组进行求解,获取结构参数的修正值.最后在ADAMS中构建含有结构参数误差的装置模型,实现各种加工运动模拟,采集刀具的各种位姿误差,利用加工装置标定方法对装置的结构参数进行修正,验证了误差模型建立与参数辨识方法的准确性,证明了该标定方法的正确性与有效性.

英文摘要：

In order to achieve the high precision and efficient processing for large marine propeller, the scheme of twin-tool symmetrical processing is proposed based on hybrid mechanism. After the mechanism compositions of the processing device are introduced, the calibration method of the structural parameters affecting machining accuracy is researched. Because of the coupled motion of the device, the serial and parallel mechanisms ace calibrated separately, and their structural error models are established. Then, identifwation methods of the serial and parallel structural parameters are analyzed, and nonlinear equations are solved by using the Levenberg-Marquardt optimization algorithm to obtain the modified values of structural parameters. Finally, device model with structural parameter errors is established in ADAMS. Various processing motions are simulated, and the pose errors of the tool are acquired. After that, structural parameters of the device are modified by using the calibration method to verify the accuracy of the error models and the parameter identification methods. Meanwhile, the correctness and effectiveness of this calibration method is proved.