A forward kinematics based statistical method for the pose errors of a 6-dof parallel manipulator

摘要：

　　The pose (position and orientation) errors joint-clearance-due influences the accuracy of 6-dof parallel manipulator significantly.In this sense the error modeling approach becomes imperative.In this paper,a new statistical model which based on forward kinematics is presented.Firstly,the structure of joint clearance and 6-dof parallel manipulator is analyzed and simplified.The forward kinematics process is applied to identify the pose of the manipulator for sample set of link lengths and corresponding pose error can be obtained subsequently,then the statistical method is used to investigate the characters of pose errors.Finally the contributions of the research are highlightened by means of comparative simulations.

关键词： 6-dof parallel manipulator joint clearance pose error forward kinematics

作者: Jian Ding Jian-guang Li Chun-tian Xu Huai-jing Jing Ying-xue Yao

作者单位: School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China;School of M Shanghai Aerospace Equipments Manufacturer, Shanghai 200245, China

会议类型: 国际会议

会议名称: 2013 International Symposium on Assembly and Manufacturing(2013装配与制造国际专题会议)

会议地点: 西安

会议语种:英文

页码: 248-251

在线出版日期: 2013-07-01（万方平台首次上网日期，不代表论文的发表时间）