| Error correction method of 6-HTRT parallel mechanics |
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| 作者姓名： | References： |
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| 作者单位： | College of Automation Harbin Engineering University，Dept. of Precision Instrument and Mechanics，Tsinghua University，Harbin 150001 China，Beijing 100084，China |
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| 摘 要： | Errors of mechanisminclude designing, makingandusing by error origin1,2]. We mainly analyzed error ofmaking, because other errors affect system smaller. Thecauses of making error mainly involve in next aspects.1) Quality of making and fitting;2) Abrasion…
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| 关 键 词： | 6-HTRT并联机器人 误差校正方法 定位误差 运动精度 |
| 文章编号： | 1005-9113（2007）02-0193-04 |
| 收稿时间： | 2004-06-22 |
Error correction method of 6-HTRT parallel mechanics |
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| ZHANG Xiu-feng,JI Lin-hong.Error correction method of 6-HTRT parallel mechanics[J].Journal of Harbin Institute of Technology,2007,14(2):193-196. |
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| Authors: | ZHANG Xiu-feng JI Lin-hong |
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| Abstract: | The method of error correction is one of key techniques of parallel robot. A new method of end error correction of 6-HTRT parallel robot is presented for engineering and researching on correlative theory of 6-HTRT parallel robot. The method need calculate many kinematics equations of parallel robot such as position back solution, velocity Jacobin, position forward solution and error Jacobin. New methods presented for solving these questions are simpler and fitter for programming and calculating, because former methods are too complex to use in engineering. These questions may be solved by iterative method of numerical value which has fast velocity of calculating. These new methods may be used in other mechanism of parallel robot too, and so have wider using value. The experimental results demonstrate that the system may satisfy entirely high technical request and fit for engineering in new measures. |
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| Keywords: | high-precision robot Hooker joint error correction position forward solution Jacobin |
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