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。
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 errars in every chains are analysis based on the error model. This work provides the theoretical basis for the calibration and error compensation.
出处
《机械设计与制造》
北大核心
2009年第5期124-126,共3页
Machinery Design & Manufacture
关键词
并联模拟台
误差分析
正交特性
Parallel simulator
Error analysis
Orthogonal characteristic
