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Accuracy Analysis and Design of a Novel 6-(P-2P-S) Parallel Robot
Author: ZhaoZiYan
Tutor: JinZhenLin
School: Yanshan University
Course: Mechanical Manufacturing and Automation
Keywords: Parallel Robot Orthogonal structure Performance indicators Geometric errors Monte Carlo method
CLC: TP242.2
Type: Master's thesis
Year: 2008
Downloads: 183
Quote: 1
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Abstract
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In this paper, a new 6 - ( the P- 2P- S ) parallel robot accuracy analysis , this robot is the Stewart platform after variation . Describes the characteristics of the parallel robot space agency theory analysis of the institutional position of the positive and negative solution , and analyze the movement decoupling performance of the agency in the position and orientation of the orthogonal . Based on the structure of the parallel robot constraints , the agency 's work space , and quantitative analysis of the institutional parameters on the size of the work space volume . Definition of the evaluation index of the isotropic properties of the line speed , and and given isotropic performance index distribution in the work space . Parallel kinematics equations take differential method to obtain the major source of error and the error mapping relationship end , using the principle of superposition geometric error model of parallel institutions in the role of a combination of errors influencing factors using the Monte Carlo technique terminal Platform error analysis . Absolute error sensitivity and error direction sensitivity of these two error evaluation , the main error analysis of influencing factors of institutions terminal error . To the global isotropic performance of the parallel mechanism and global error indicators for the parameters of the design basis for the institution .
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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Industrial robots
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