Accuracy Analysis of 3-UPU Translational Parallel Robot Mechanism

被引：2
|
作者：
Sun, Shuhua [1 ]
机构：
[1] Zibo Vocat Inst, Dept Automot Engn, Zibo 255314, Shandong, Peoples R China
来源：
MANUFACTURING PROCESS AND EQUIPMENT, PTS 1-4 | 2013年 / 694-697卷
关键词：
parallel robot; pose errors; accuracy analysis; simulation;
D O I：
10.4028/www.scientific.net/AMR.694-697.1617
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
According to the inverse solutions of 3-UPU translational parallel robot mechanisms, in which both the base and the mobile platform are triangle and similar to each other, the accuracy model of parallel robot mechanisms is established by the differentiation of the kinematic. The effects of length error of driving poles, structure size change and posture change on the accuracy of robot are studied by simulations,which provided the foundation for practical error compensating and controlling of the mechanism.
引用
收藏
页码：1617 / 1620
页数：4
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