Error Modeling and Simulation of a 2-DOF High-Speed Parallel Manipulator

被引：0

作者：

Wei, Junyang ^{[1
]}

Zhang, Xianmin ^{[1
]}

Mo, Jiasi ^{[1
]}

Tong, Yilong ^{[1
]}

机构：

[1] S China Univ Technol, Guangdong Prov Key Lab Precis Equipment & Mfg Tec, Guangzhou 510640, Guangdong, Peoples R China

来源：

INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2014, PT II | 2014年 / 8918卷

关键词：

Error Modeling; Parallel Manipulator; TOLERANCE DESIGN; ROBOT;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

An error model of a 2-DOF high-speed parallel manipulator is presented, which reveals the relationship between input geometric parameter errors and output pose errors. Based on this, the distribution of pose errors in the workspace is demonstrated and analyzed through numerical simulation. The influence coefficient is defined so that the effect separate geometric errors have on the pose errors of the end effector can be better compared. This would benefit guiding the manufacture and the assembly of prototypes. In addition, the structure of an improved manipulator combining the 2-DOF manipulator with a rotating mechanism is developed.

引用

页码：100 / 110

页数：11

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