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| Accuracy analysis of novel 3-RRC parallel robot mechanism |
| GUO Zong-He1, YU Shun-Nian2, MA Lv-Zhong3, HAO Xiu-Qing1 |
1.Department of Science and Technology,Shandong University of Technology, Zibo 255049, China;
2.College of Mechanical Engineering,Jimei University, Xiamen 361021,China;
3.College of Mechanical Engineering,Jiangsu University, Zhenjiang 212013, China |
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Abstract According to the inverse solutions of 3-DOF translational parallel robot mechanisms, an accuracy model for such mechanisms is established through differentiation theory. Through computer simulation, rotation error of rational joint, structural parameter error and influence on robot mechanism accuracy when posture changes, are analyzed. These provide theoretic references for practical error compensation and control for such mechanisms.
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Published: 28 April 2006
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新型3-RRC并联机器人机构精度分析
根据三平移并联机器人机构运动学位置反解，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，分析了主动副的转动误差、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。
关键词：
并联机器人,
位置反解,
精度分析,
仿真
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