Analyses of Error and Precision of 6-DOF Platform
A particular subset of 6-DOF parallel mechanisms is known asStewart platforms (or hexapod).Stewart platform characteristic analyzed in this paper is the effect of small errorswithin its elements (strut lengths,joint placement) which can be caused by manufacturing tolerances or setting up errors or other even unknown sources to end effector.The biggest kinematics problem is parallel robotics which is the forward kinematics.On the basis of forward kinematic of 6-DOF platform,the algorithm model was built by Newton iteration,several computer programs were written in the MATLAB and Visual C++ programming language.The model is effective and real-time approved by forwards kinematics,inverse kinematics iteration and practical experiment.Analyzing the resource of error,get some related spectra map,top plat position and posture error corresponding every error resource respectively.By researching and comparing the errorspectra map,some general results is concluded.
6-DOF platform Forward Kinematic Error Precision
Rui Ren Chang Chun Ye Guo Bin Fan
China Academy of Engineering Physics,Mianyang,Sichuan Province,China
国际会议
广州
英文
2081-2086
2012-11-16（万方平台首次上网日期，不代表论文的发表时间）