论文部分内容阅读
通过对6—SPS型并联机器人位置输入输出方程微分,建立了原始误差存在在单支链上时机器人误差模型.在此基础上,运用误差独立作用原理和原始误差等效作用原则,在该情况下对并联机器人进行精度综合.该办法将并联机器人精度综合这一原本多目标多变量的非线性最优化组合问题转化为线性问题,因而简单可行,具有一定的实用价值.
Based on the differential of input and output equations of 6-SPS parallel robot, the error model of robot with original error existing in single-branch chain is established. On this basis, the principle of error independent action and the principle of equivalent effect of original error are used. The method of precision synthesis of parallel robots is put forward.It transforms the original multi-objective nonlinear multivariable optimization problem of parallel robot precision into a linear problem, which is simple and feasible and has certain practical value.