新型六自由度并联机器人精度分析

Accuracy Analysis of a Novel Parallel Robot with Six Degrees of Freedom

精度设计是机器人误差标定技术的重要手段。本文结合新型六自由度并联机器人的结构特点,在误差概率分析与蒙特卡洛法的基础上,建立铰链间隙影响下的机器人实际误差模型,并且应用此模型进行精度分析。为新型六自由度并联机器人的精度综合提供了理论依据。

Precision design is an important means of error calibration of robot. A new analysis method based on the forward kine- matics solution was presented. Based on error probability analysis and Monte Carlo method, the error model of the robot influence by hinge clearance was set up, the errors including all the structural dimension were obtained. The result shows that the structural parameters are sensitive to the end effector errors.