Traditional tolerance analysis is mostly restricted to static analysis. However, tolerances of different components also affect the movement accuracy in a mechanism. In this paper, the idea of kinematic tolerance analysis is advanced. In the interest of achieving movement precision considering tolerance, a kinematic Jacobian model is established on the basis of a traditional dimensional chain and an original Jacobian model. The tolerances of functional element (FE) pairs are expressed as small-displacement screws. In addition, joint clearances resulting from tolerance design also influence the kinematic accuracy, and they are modeled by FE pairs. Two examples are presented to illustrate the rationality and the validity of the kinematic tolerance model. The results of the two examples are shown, and the discussion is presented. A physical model of the 2D example is also built up in 3DCS software. Based on the discussion, a comparison between the statistical and physical models is carried out, and the merits and demerits of both are listed.

中文翻译：

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基于公差理论的机构运动学精度方法

传统的公差分析主要限于静态分析。但是，不同部件的公差也会影响机械装置的运动精度。本文提出了运动公差分析的思想。为了获得考虑公差的运动精度，在传统尺寸链和原始雅可比模型的基础上建立了运动雅可比模型。功能元件（FE）对的公差表示为小排量螺钉。此外，公差设计产生的关节间隙也会影响运动精度，并通过有限元对进行建模。给出两个例子来说明运动公差模型的合理性和有效性。显示了两个示例的结果，并进行了讨论。2DC示例的物理模型也在3DCS软件中建立。在讨论的基础上，对统计模型和物理模型进行了比较，并列出了两者的优缺点。