一种2自由度平面并联机器人的精度分析

Precision Analysis of a Class 2-DOF Planar Parallel Manipulator

以一种2自由度平面并联机器人机构为对象,分析了该并联机器人机构的误差源,首先利用图解法得到该平面并联机器人机构的可达工作空间和有效工作空间,再利用环路增量法和误差分离技术导出了末端位置误差与误差源之间的映射关系,因而为其在工作空间内的位姿误差建立了数学模型,给出了这个平面并联机器人机构位姿误差的计算方法,从而对其进行精度分析,最后借助于搜索法得到了其在有效工作空间内的误差分布图像.

This paper aims at a class of 2-DOF planar parallel manipulator and analyzes the error resources of the parallel manipulator . Firstly, the reachable workspace and available workspace are calculated using the diagrammatizing method. Then, the error mapping function is formulated to identify the source errors affecting the pose error based on the loop incremental method and the technique of error separated. The mathematical model of the error is established based on the kinematics analysis in the workspace . Lastly, the error curve within its available workspace is presented by the way of searching method.