کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
10327197 | 680866 | 2005 | 9 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Kinematic analysis and error modeling of TAU parallel robot
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
The TAU robot presents a new configuration of parallel robots with three degrees of freedom. This robotic configuration is well adapted to perform with a high precision and high stiffness within a large working range compared with a serial robot. It has the advantages of both parallel robots and serial robots. In this paper, the kinematic modeling and error modeling are established with all errors considered using Jacobian matrix method for the robot. Meanwhile, a very effective Jacobian approximation method is introduced to calculate the forward kinematic problem instead of Newton-Raphson method. It denotes that a closed form solution can be obtained instead of a numerical solution. A full size Jacobian matrix is used in carrying out error analysis, error budget, and model parameter estimation and identification. Simulation results indicate that both Jacobian matrix and Jacobian approximation method are correct and with a level of accuracy of micron meters. ADAMS's simulation results are used in verifying the established models.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Computer-Integrated Manufacturing - Volume 21, Issue 6, December 2005, Pages 497-505
Journal: Robotics and Computer-Integrated Manufacturing - Volume 21, Issue 6, December 2005, Pages 497-505
نویسندگان
Hongliang Cui, Zhenqi Zhu, Zhongxue Gan, Torgny Brogardh,