Performance Evaluation of Parallel Robotic Machines
Performance Evaluation of Parallel Robotic Machines
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DOI：
10.1007/978-1-4419-1117-9_8
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发表时间：
2010-01-01
期刊：
影响因子：
--
通讯作者：
Zhang, Dan
中科院分区：
文献类型：
--
作者：
Zhang, Dan
全局刚度和最优标定是并联机器人性能的两个关键问题，全局刚度直接关系到并联机器人的刚度和精度，而最优标定可以有效提高并联机器人的性能。本章将对这两个问题进行介绍和讨论。本章将举例说明新型 3DOF 并联机器人机器的示例，以详细展示如何实现全局刚度评估和最佳校准。本章介绍的方法非常通用，可以应用于所有类型的机器人系统。
Global stiffness and optimal calibration are the two crucial issues for parallel robotic machines for their performance, since global stiffness is directly related to the rigidity and accuracy of a parallel robotic machine, while optimal calibration can effectively improve the performance of the parallel robotic machine. In this chapter, both issues will be introduced and discussed. An example of a novel 3DOF parallel robotic machine will be illustrated in the chapter to show the detail of how to implement the global stiffness evaluation and optimal calibration. The method introduced in this chapter is very generic and can be applied in all types of robotic systems.