| Error Analysis of Three Degree-of-Freedom Changeable Parallel Measuring Mechanism |
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| 作者姓名： | CHENG Gang GE Shi-rong WANG Yong |
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| 作者单位： | Institute of Reliability and Rescue Robotics, China University of Mining ＆Technology, Xuzhou, Jiangsu 221008, China |
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| 摘 要： | A three degree-of-freedom （DOF） planar changeable parallel mechanism is designed by means of control of different drive parameters. This mechanism possesses the characteristics of two kinds of parallel mechanism. Based on its topologic structure, a coordinate system for position analysis is set-up and the forward kinematic solutions are analyzed. It was found that the parallel mechanism is partially decoupled. The relationship between original errors and position-stance error of moving platform is built according to the complete differential-coefficient theory. Then we present a special example with theory values and errors to evaluate the error model, and numerical error solutions are gained. The investigations concentrating on mechanism errors and actuator errors show that the mechanism errors have more influences on the position-stance of the moving platform. It is demonstrated that improving manufacturing and assembly techniques can greatly reduce the moving platform error. The small change in position-stance error in different kinematic positions proves that the error-compensation of software can improve considerably the precision of parallel mechanism.
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| 关 键 词： | 并行装置 驱动系统 机构学 自动控制 |
| 收稿时间： | 2006-06-05 |
| 修稿时间： | 2006-07-10 |
Error Analysis of Three Degree-of-Freedom Changeable Parallel Measuring Mechanism |
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| CHENG Gang GE Shi-rong WANG Yong.Error Analysis of Three Degree-of-Freedom Changeable Parallel Measuring Mechanism[J].Journal of China University of Mining and Technology,2007,17(1):101-104. |
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| Authors: | CHENG Gang GE Shi-rong WANG Yong |
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| Affiliation: | Institute of Reliability and Rescue Robotics, China University of Mining &Technology, Xuzhou, Jiangsu 221008, China |
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| Abstract: | A three degree-of-freedom (DOF) planar changeable parallel mechanism is designed by means of control of different drive parameters. This mechanism possesses the characteristics of two kinds of parallel mechanism. Based on its topologic structure, a coordinate system for position analysis is set-up and the forward kinematic solutions are analyzed. It was found that the parallel mechanism is partially decoupled. The relationship between original errors and position-stance error of moving platform is built according to the complete differential-coefficient theory. Then we present a special example with theory values and errors to evaluate the error model, and numerical error solutions are gained.The investigations concentrating on mechanism errors and actuator errors show that the mechanism errors have more influences on the position-stance of the moving platform. It is demonstrated that improving manufacturing and assembly techniques can greatly reduce the moving platform error. The small change in position-stance error in different kinematic positions proves that the error-compensation of software can improve considerably the precision of parallel mechanism. |
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| Keywords: | parallel mechanism changeable measuring mechanism kinematics forward analysis error model error analysis |
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