| 6-SPS并联平台位置姿态误差分析 |
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| 引用本文： | 乔俊伟,詹永麒,等.6-SPS并联平台位置姿态误差分析[J].机械科学与技术(西安),2001,20(1):58-59. |
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| 作者姓名： | 乔俊伟 詹永麒 |
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| 作者单位： | 上海交通大学机械工程学院!上海200030 |
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| 摘 要： | 提高位置和姿态的精度是 6 - SPS并联平台的关键技术之一。本文给出了含间隙球铰的简化模型 ,在分析驱动杆杆长误差和上、下球铰空间位置误差对平台位置姿态误差影响的基础上 ,利用数理统计的方法 ,建立了球铰间隙与平台位置姿态误差之间的关系 ,进而推出并联平台位置姿态误差的综合表达式 ,为平台的精度补偿提供了理论基础。
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| 关 键 词： | 并联平台 误差 间隙 |
| 文章编号： | 1003-8728(2001)01-0058-02 |
| 修稿时间： | 1999年12月14 |
Error Analysis of the Position and Posture of a 6-SPS Parallel Platform |
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| QIAO Jun-wei,ZHAN Yong-qi,WANG Xu-yong.Error Analysis of the Position and Posture of a 6-SPS Parallel Platform[J].Mechanical Science and Technology,2001,20(1):58-59. |
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| Authors: | QIAO Jun-wei ZHAN Yong-qi WANG Xu-yong |
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| Abstract: | Improving the precision of position and posture is one of the key techniques for 6-SPS parallel platform. A simplified model of spherical hinge is put forward in this paper. After analyzing the effect of actuator length errors, upper and lower spherical hinge position errors on the position and posture error of platform, the relationship between spherical hinge gaps and the position and posture error of platform is derived by mathematical statistics. Moreover, a general expression for 6-SPS parallel platform is derived, which serves as the theoretic foundation for precise compensation of the platform. |
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| Keywords: | Parallel platform Error analysis Gap |
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