Kinematic Reliability and Sensitivity Analysis of Delta Parallel Mechanism
Kinematic accuracy is an important index to evaluate the quality of mechanisms. Kinematic reliability is a significant standard to examine dynamic kinematic accuracy of mechanisms. Having deduced inverse kinematics and calculated model for position errors of Delta mechanism, kinematic reliability of the mechanism is calculated considering the randomness of every error components. Analytic method sensitivity analysis is adopted to describe contribution of the randomness of each error component to kinematic reliability of the mechanism, and the calculating approach is exactly given that the sensitivity analysis which is for getting the error contributions to reliability of which the position errors during movement is in the range of allowable accuracy at any time. Kinematic reliability and its sensitivity analysis can search key factor influencing kinematic accuracy, which can provide the foundation for error compensate and accuracy assurance technology of the mechanism.
Kinematics reliability Sensitivity analysis Parallel mechanism Delta robot
Qiang Yang Zhi-li Sun Dongliang Lei Peng Zhou
School of Mechanical Engineering & Automation, Northeastern University, Shenyang 10004, China School of Mechanical Engineering & Automation, Northeastern University, Shenyang 10004, China School School of Traffic & Mechanical Engineering, Shenyang Jianzhu University, Shenyang 10004，China
国际会议
沈阳
英文
546-550
2010-07-28（万方平台首次上网日期，不代表论文的发表时间）