Separation of Comprehensive Geometrical Errors of a 3-DOF Parallel Manipulator Based on Jacobian Matrix and Its Sensitivity Analysis with Monte-Carlo Method

查看全文 作　　者：SUN [1]Tao;SONG [1]Yimin;LI [2]Yonggang2;XU [1]Liang

机构地区：[1]School ofMechanicalEngineering, Tianjin University, Tianjin 300072, China;[2]School ofMechanicalEngineering, Tianjin University of Technology andEducation, Tianjin 300022, China

出　　处：《Chinese Journal of Mechanical Engineering》索引2011年第24卷第3期,共8页

基　　金：supported by Tianjin Research Program of Application Foundation and Advanced Technology of China (Grant No.11JCZDJC22700);National Natural Science Foundation of China (GrantNo. 51075295,Grant No. 50675151);National High-tech Research and Development Program of China (863 Program,Grant No.2007AA042001);PhD Programs Foundation of Ministry of Education of China (Grant No. 20060056018) 摘　　要：Parallel kinematic machines (PKMs) have the advantages of a compact structure,high stiffness,a low moving inertia,and a high load/weight ratio.PKMs have been intensively studied since the 1980s,and are still attracting much attention.Compared with extensive researches focus on their type/dimensional synthesis,kinematic/dynamic analyses,the error modeling and separation issues in PKMs are not studied adequately,which is one of the most important obstacles in its commercial applications widely.Taking a 3-PRS parallel manipulator as an example,this paper presents a separation method of source errors for 3-DOF parallel manipulator into the compensable and non-compensable errors effectively.The kinematic analysis of 3-PRS parallel manipulator leads to its six-dimension Jacobian matrix,which can be mapped into the Jacobian matrix of actuations and constraints,and then the compensable and non-compensable errors can be separated accordingly.The compensable errors can be compensated by the kinematic calibration,while the non-compensable errors may be adjusted by the manufacturing and assembling process.Followed by the influence of the latter,i.e.,the non-compensable errors,on the pose error of the moving platform through the sensitivity analysis with the aid of the Monte-Carlo method,meanwhile,the configurations of the manipulator are sought as the pose errors of the moving platform approaching their maximum.The compensable and non-compensable errors in limited-DOF parallel manipulators can be separated effectively by means of the Jacobian matrix of actuations and constraints,providing designers with an informative guideline to taking proper measures for enhancing the pose accuracy via component tolerancing and/or kinematic calibration,which can lay the foundation for the error distinguishment and compensation. 关键词：并联机器人雅可比矩阵蒙特卡罗方法三自由度分离问题灵敏度分析并联运动学机器几何

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Separation of Comprehensive Geometrical Errors of a 3-DOF Parallel Manipulator Based on Jacobian Matrix and Its Sensitivity Analysis with Monte-Carlo Method

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引证文献(16)

耦合文献(465)

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