|
|||||
|
|
| Stewart并行机构位姿误差分析 | |
| 引用本文： | 吕崇耀,熊有伦. Stewart并行机构位姿误差分析[J]. 华中科技大学学报(自然科学版), 1999, 27(8) |
| 作者姓名： | 吕崇耀 熊有伦 |
| 作者单位： | 华中理工大学机械科学与工程学院 |
| 摘 要： | 在获得6-6SPS六自由度Stewart并行机构封闭运动学位姿正解精确解析的基础上，提出了六自由度并行机构位姿误差的一种分析方法.针对一种X-型Stewart并行机构，进行了必要的数字模拟位姿误差分析.模拟结果表明在杆长所限定的工作空间里，与Y-型Stewart并行机构相比，X-型6-6SPS六自由度Stewart并行机构除在特殊形位对于六杆综合输入误差具有较高的放大作用外，对于六杆综合输入误差的放大作用要小近一个数量级. |
| 关 键 词： | 六自由度并行机构 运动学位姿正解 位姿误差分析 在线位姿误差补偿 |
| 修稿时间： | :1999-03-2 |
The Pose Error Analysis of the 6-6 SPS 6 DOF Stewart In-Parallel Mechanisms |
|
| Lu Chongyao,Xiong Youlun. The Pose Error Analysis of the 6-6 SPS 6 DOF Stewart In-Parallel Mechanisms[J]. JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE, 1999, 27(8) | |
| Authors: | Lu Chongyao Xiong Youlun |
| Affiliation: | Lu Chongyao Xiong Youlun |
| Abstract: | The pose error analysis was based on the exactclosed-form forward kinematics of the 6-6 6DOF Stewart in-parallel mechanisms. Thesimulation studies were carried out, especially for the X-type 6-6 6DOF Stewartin-parallel mechanisms. The results indicated that the combined error inputs from theactive and passive joints could be amplified significantly. This is especially true forthe Y-type 6-6 6DOF Stewart in-parallel mechanisms. |
| Keywords: | 6DOF Stewart Platform forward kinematics pose erroranalysis on-line pose error compensation |
| 本文献已被 CNKI 万方数据 等数据库收录！ | |