Compensation for the Pose Errors of the End Effector of a Parallel Manipulator
Pose error compensations of the end effector is one of the key problems in the fields of parallel manipulators. 6-SPS or 6-UPS Stewart platform has controllable 6 degree of freedoms, which make it possible to compensate the pose errors of the end effector. A mathematic modeling used for the pose error compensations of the end effector has been formulated in terms of the differential relationship of robot in this paper. Relevant compensation method is put forward, A numerical example for the error compensations of a typical parallel structure-Stewart platform is given and the resulted compensation quantities on 6 controllable legs are also obtained. Simulations show that the final pose errors of the end effector decrease greatly by adding the compensation quantities to the corresponding legs. The method is proved to be feasible.
Parallel manipulator error compensations Stewart platform
HONG Lin LU Huijuan ZHAO Xinhua XIE Ning
Tianjin University of Commerce, Tianjin 300134 Tianjin University of Technology, Tianjin 300191
国际会议
北京
英文
2007-08-05（万方平台首次上网日期，不代表论文的发表时间）