6-RTS并联机器人对中装配调节控制量计算方法

Method for Computing the Adjustment Volume of 6-RTS Parallel Manipulator on Assembling

探讨 6 -RTS并联机器人在装配对中的应用。提出了对中装配机器人调节量的计算方法。通过 6 -RTS并联机器人逆位置分析和误差分析 ,分别对其机器人的初调量和微调量进行计算 。

The application of 6-RTS parallel manipulator to centered assembly is explored. The method is proposed to compute the adjustment on assembling. Using the inverse kinematics and the error analysis of the manipulator,the initial and micro adjustment volume can be computed so that the higher accuracy for assembly can be obtained.