3PRS并联机器人位姿误差规律研究

Research on Pose Errors Laws of 3PRS Tripod

介绍了3PRS并联机器人的模型、位姿误差计算方法,对位姿误差与结构误差、驱动误差的关系进行了分析。研究结果表明:各误差源对位姿误差的作用相互独立;在给定的任意位置,机器人位姿误差与结构误差、驱动误差有强的线性关系;各误差源引起的位姿误差大小在整个工作空间的分布可以以驱动参数为变元,用相对简单的三元二次函数近似表达。

The model of a 3PRS Tripod was introduced, the account method and analysis process of pose error were discussed. The result shows that the effect of every error factor on the pose errors is independent. When 3PRS＇s position is certain, the relation- ship between the pose errors and the structural errors or driving errors is linear. The distribution law of the pose errors can be expressed by a group of quadratic functions with three driving parameters as its arguments.