| 新型两平移一转动并联机器人机构精度分析与仿真 |
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| 引用本文： | 余顺年,马履中.新型两平移一转动并联机器人机构精度分析与仿真[J].机械设计,2005,22(6):33-35. |
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| 作者姓名： | 余顺年 马履中 |
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| 作者单位： | 1. 江苏大学,机械工程学院,江苏,镇江,212013;集美大学,机械工程学院,福建,厦门,361021
2. 江苏大学,机械工程学院,江苏,镇江,212013 |
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| 基金项目： | 国家自然科学基金资助项目(50375067)，福建省高等学校科技资助项目(JAO04231) |
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| 摘 要： | 通过对一种新型两平移一转动并联机器人机构的分析，求出其运动学位置正解，利用微分理论，建立了该并联机器人机构的精度模型。通过计算机仿真，分析了主动副的移动误差、结构参数误差和位姿变化对机器人机构精度的影响。为该机器人机构实际误差补偿与控制提供理论依据。
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| 关 键 词： | 并联机器人 位置正解 精度分析 仿真 |
| 文章编号： | 1001-2354(2005)06-0033-03 |
Accuracy analyses and simulations of novel parallel robot mechanism with two translational and one rotational degree of freedom |
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| YU Shun-Man,MA Lu-zhong.Accuracy analyses and simulations of novel parallel robot mechanism with two translational and one rotational degree of freedom[J].Journal of Machine Design,2005,22(6):33-35. |
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| Authors: | YU Shun-Man MA Lu-zhong |
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| Abstract: | Through the analysis of a novel parallel robotic mechanism with two translational and one rotational degree of freedom, the forward solution of kinematics was found, and the accuracy model of this parallel robotic mechanism was established by the use of differential theory. By way of computer simulation, the influences upon the accuracy of robotic mechanism affected by the translational error of driving pair, the parametric error of structure and posture variation were analyzed thus provided theoretical bases for practical error compensation and control of this robotic mechanism. |
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| Keywords: | parallel robot forward solution of position accuracy analysis simulation |
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