| 并联双三角机构精度分析 |
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| 引用本文： | 洪林,赵新华,张策,温殿英.并联双三角机构精度分析[J].机械科学与技术(西安),2004,23(8):1005-1008. |
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| 作者姓名： | 洪林 赵新华 张策 温殿英 |
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| 作者单位： | [1]天津大学机械工程学院，天津300072 [2]天津理工学院，天津300191 |
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| 摘 要： | 并联双三角机构是Stewart平台的一种特殊型式。由于其结构的特点 ,直接精确测量该机构的结构误差有一定困难。文中采用一种有效的误差正解分析方法 ,分析包含球铰、驱动杆长在内的全部结构参数误差以及平台半径的变化对主轴端位姿误差的影响。应用这种误差正解方法可定量地确定结构参数设计精度 ,并能找出特定位姿下的敏感结构参数。为这类并联机器人的设计、制造及装配提供了一种有效的途径
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| 关 键 词： | 并联机器人 精度分析 双三角机构 位姿误差 |
| 文章编号： | 1003-8728(2004)08-1005-04 |
Accuracy Analysis of a Parallel 3-3 Stewart Platform |
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| HONG Lin.Accuracy Analysis of a Parallel 3-3 Stewart Platform[J].Mechanical Science and Technology,2004,23(8):1005-1008. |
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| Authors: | HONG Lin |
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| Abstract: | A double triangular platform is a structure changed from 6-dof Stewart platform. Due to its limited instrument accessibility, it is difficult to measure accurately structure errors of the platform. A new analysis method is presented in this paper. The influence of different structural errors on the pose errors of the end effector can be derived by an efficient forward kinematics solution. In this way, design accuracy of structure parameters can be determined in numerical quantities and the parameters sensitive to the errors of the end effector at special poses can be found. The analysis method provides a basis for the design, manufacturing, and installation of the parallel manipulators. |
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| Keywords: | Parallel manipulators Accuracy analysis Stewart platform Pose errors |
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