| 并联运动模拟台几何误差的正交特性 |
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| 引用本文： | 刘伟,高峰,戚开诚.并联运动模拟台几何误差的正交特性[J].机械设计与制造,2009(5). |
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| 作者姓名： | 刘伟 高峰 戚开诚 |
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| 作者单位： | 1. 北京航空航天大学机械工程及自动化学院,北京100083;河北工业大学机械工程学院,天津300130
2. 上海交通大学机械与动力工程学院,上海,200030 |
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| 摘 要： | 分析了一台冗余电机驱动的新型六维正交并联运动模拟台,根据其位置反解的数学模型,导出了末端平台的位姿误差与机构各运动部件几何参数误差之间的函数关系,并基于模拟台的位置正解验证了误差模型的正确性.最后,以误差模型为基础,分析了运动模拟台六条支链几何误差的正交特性,为运动学标定和误差补偿提供了理论依据.
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| 关 键 词： | 并联模拟台 误差分析 正交特性 |
Orthogonal characteristic of geometrical errors for parallel simulator |
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| LIU Wei,GAO Feng,QI Kai-cheng.Orthogonal characteristic of geometrical errors for parallel simulator[J].Machinery Design & Manufacture,2009(5). |
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| Authors: | LIU Wei GAO Feng QI Kai-cheng |
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| Affiliation: | 1School of Mechanical Engineering & Automation;BeiHang University;Beijing 100083;China;2School of Mechanical Engineering;Hebei University of Technology;Tianjin 300130;China;3School of Mechanical Engineering;Shanghai Jiao Tong University;Shanghai 200030;China |
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| Abstract: | A novel parallel robot with orthogonal chains and redundant actuators designed for kinematic simulator is presented. Based on the inverse kinematic function of the simulator,the relationship between the end accuracy and the errors of the components in every chains is established. Furthermore the error model is validation according to the direct kinematic of the simulator. Finally,the orthogonal characteristic of errors in every chains are analysis based on the error model. This work provides the theoretical... |
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| Keywords: | Parallel simulator Error analysis Orthogonal characteristic |
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