Analysis on the Influence of Parallelogram Mechanism to the Posture Error of Movable Platform in the Parallel Robot
This paper takes one kind of 3-TPT parallel robot as the object to study. It mainly analyzes the posture error of movable platform influenced by the parallelogram mechanism of parallel robot. Firstly, on the basis of introducing the structure of parallel robot, the kinematics equation of the parallelogram mechanism of this parallel robot is analyzed and established. Secondly, the influence of two kinds of factors including the shape error of parallelogram mechanism and the micro-rotation of Hooker joint around the axis of connecting rod is analyzed respectively, and the theoretical relationship expression is acquired between various errors influencing factor and the posture error of movable platform in the parallel robot, thus the foundation for the theoretical error analysis of this parallel robot is laid.
Parallel Robot Movable Platform Parallelogram Mechanism Posture Error
Jianye Guo Jingkui Li Jiashun Shi Yanli Zhang
Shenyang Institute of Aeronautical Engineering Shenyang, Liaoning, 110136, China Northeastern University Shenyang, Liaoning, 110819, China
国际会议
长沙
英文
706-710
2010-05-11（万方平台首次上网日期，不代表论文的发表时间）