摘要
建立了悬置式3自由度并联机构的位置逆解模型;依据全微分理论建立了机构的误差模型,得到了该机构的输出位姿误差与各原始误差源之间的映射关系,对于给定的各结构参数和驱动误差,应用此模型可求出机构的输出位姿误差,为实际误差补偿提供理论依据。
The reverse position solution of suspended 3-DOF parallel mechanism is established,by using differential-coefficient theory,the error of the positional model is analyzed and the relationship between original machine error and position-stance error is concluded.By giving each structure parameter and driving errors,output position-stance errors of this mechanism can be confirmed.
出处
《机械设计》
CSCD
北大核心
2013年第8期20-22,共3页
Journal of Machine Design
关键词
并联机构
逆解模型
误差
精度分析
parallel mechanism
reverse position solution
error
accuracy analysis
