A numerical error analysis method and its application on a 4RRR parallel kinematic machine |
| |
Authors: | Liu Dawei Wang Liping Li Tiemin Tang Limin Guo Zhiping |
| |
Institution: | [1]Department of Precision Instrument and Mechanology, Tsinghna University, Beijing 100084, P.R. China [2]AVIC Chengdu Aircraft Corporation, Chengdu 610092, P.R. China |
| |
Abstract: | To guarantee the accuracy of error analysis and evaluate the manufacturing tolerance's influence, a numerical error analysis method for parallel kinematic machines (PKMs) is presented in this paper. Quasi-Newton method and genetic algorithm are introduced for the forward kinematic solution. Based on the inverse and forward kinematic solutions, the end-effector's error calculation procedure is developed. To solve the accuracy problem caused by the length and angular parameters' different units, a normalization method is proposed based on the manufacturing tolerance. Comparison between the error analysis results calculated by the traditional method and the numerical method for a 4RRR PKM shows that, this numerical error analysis method is more accurate, simpler, and can evaluate the machine's real error based on the manufacturing tolerance. |
| |
Keywords: | parallel kinematic machine (PKMs) error analysis error normalization quasi-Newton method genetic algorithm |
本文献已被 CNKI 维普 万方数据 等数据库收录! |
|