کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
7179727 | 1467733 | 2016 | 17 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Kinematic accuracy research of a novel six-degree-of-freedom parallel robot with three legs
ترجمه فارسی عنوان
تحقیق دقیق کینماتیک یک ربات موازنه شش درجه ای آزاد با سه پایه
دانلود مقاله + سفارش ترجمه
دانلود مقاله ISI انگلیسی
رایگان برای ایرانیان
کلمات کلیدی
دقت کیهانی، ربات موازی، مدل خطا جبران خسارت،
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی صنعتی و تولید
چکیده انگلیسی
Based on a novel six-degree-of-freedom (DOF) parallel manipulator mechanism, the forward and inverse kinematics have been worked out. This paper addresses the kinematics accuracy problem of the proposed new parallel robot with three legs (TLPM) due to the location of the U joint errors, clearance and driving errors. According to the generalized kinematic mapping of motions in the workspace, the end-effector's exact output error bound for a standard deviation of the components can have a great influence on the pose (position and orientation) error. The stochastic results are presented; for considering both the location errors clearance and driving in the total simultaneous effect of the errors, the superposition principle is not suitable when any of the errors is considerably larger than the last two errors. The accuracy is intensively studied, a laser tracker is applied to calibrate the errors. The models can be built into the controller and used to compensate for the location of the U joint errors, clearance and driving errors. Experimental results show that the robot accuracy is improved and demonstrated the effectiveness of the proposed method.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 102, August 2016, Pages 86-102
Journal: Mechanism and Machine Theory - Volume 102, August 2016, Pages 86-102
نویسندگان
Jianxun Fu, Feng Gao, Weixing Chen, Yang Pan, Rongfu Lin,