Accuracy analysis of 3-DOF planar parallel robots
Accuracy analysis of 3-DOF planar parallel robots
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DOI：
10.1016/j.mechmachtheory.2007.04.002
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发表时间：
2008-04-01
影响因子：
5.2
通讯作者：
Bonev, Ilian A.
中科院分区：
文献类型：
--
作者：
Briot, Sebastien;Bonev, Ilian A.
三自由度平面并联机器人越来越多地被用于精度是最重要的应用。显然，因此需要用于评估这些机器人的准确性的方法。设计、制造和校准良好的并联机器人的精度主要取决于输入误差（传感器和控制误差）。灵活性和其他类似的性能指标经常被用来间接评估输入错误的影响。然而，工业需要在给定标称配置下的最大定向和位置输出误差的精确知识。一个区间分析方法，可以适应于此目的已在文献中提出，但没有运动学的洞察力的优化设计的问题。本文在详细分析平面三自由度并联机器人误差放大问题的基础上，提出了一种简单的方法。(c)2007爱思唯尔有限公司保留所有权利。
Three-degree-of-freedom planar parallel robots are increasingly being used in applications where precision is of the utmost importance. Clearly, methods for evaluating the accuracy of these robots are therefore needed. The accuracy of well designed, manufactured, and calibrated parallel robots depends mostly on the input errors ( sensor and control errors). Dexterity and other similar performance indices have often been used to evaluate indirectly the influence of input errors. However, industry needs a precise knowledge of the maximum orientation and position output errors at a given nominal configuration. An interval analysis method that can be adapted for this purpose has been proposed in the literature, but gives no kinematic insight into the problem of optimal design. In this paper, a simpler method is proposed based on a detailed error analysis of 3-DOF planar parallel robots that brings valuable understanding of the problem of error amplification. (c) 2007 Elsevier Ltd. All rights reserved.