Discrete Kinematic Geometry Solution Method for Saddle Line Error

摘要：

　　In this paper,the discrete kinematic geometry solution method for saddle line error of binary Link P-R is studied.Based on the definition of the error evaluation by saddle point programming,the saddle line and the saddle line error are presented.Then,by the geometrical method and algebraic method,the way to find the saddle line with three positions is solved and the effect of the fourth position is discussed,which agree with the classical theory.Finally,the mult-positions saddle line error is obtained by combination and comparation of all points.In a word,this paper is utilized to solve the saddle line error by developing the planar discrete kinematic synthesis theory.

关键词： Discrete Kinematic Geometry Binary Link P-R Error Evaluation Saddle Line

作者: WU Yu WANG Delun WANG Wei XU Wenji

作者单位: School of Mechanical Engineering,Dalian University of Technology,Dalian 116024,China

会议类型: 国际会议

会议名称: The 3th IFToMM Asian Conference on Mechanism and Machine Science 2014 International Conference on Mechanism and Machine Science,2014(第三届IFTOMM亚洲机构与机器科学会议暨2014海峡两岸机构学学术会议)

会议地点: 天津

会议语种:英文

页码: 1-4

在线出版日期: 2014-07-06（万方平台首次上网日期，不代表论文的发表时间）