Title :
Analysis on the influence of the posture error of 3-TPT PMT movable platform
Author :
Guo, Jianye ; Zhang, Yanli ; Zhao, Liang
Author_Institution :
Sch. of Mech. & Electr. Eng., Shenyang Aerosp. Univ., Shenyang, China
Abstract :
This paper takes one kind of 3-TPT Parallel Machine Tool (PMT) as the object to study. It mainly analyzes the influence of the posture error of PMT movable platform on its position error. Firstly, on the basis of introducing the structure of PMT, the kinematics of this machine is analyzed, and the kinematics equation of the parallel mechanism is obtained. Then the influence situation of the posture error of the movable platform to its position error is studied based on the kinematics analysis results, and the mathematical expression of error influence is established, thus the theoretical foundation for the comprehensive establishment of error model and the error compensation of this PMT is laid.
Keywords :
manipulator kinematics; mathematical analysis; position control; 3TPT PMT movable platform; 3TPT parallel machine tool; kinematic analysis; kinematics equation; mathematical expression; parallel mechanism; position error; posture error; Accuracy; Kinematics; Mathematical model; Parallel robots; Presses; Parallel Machine Tool (PMT); kinematics; movable platform; position error; posture error;
Conference_Titel :
Mechanic Automation and Control Engineering (MACE), 2011 Second International Conference on
Conference_Location :
Hohhot
Print_ISBN :
978-1-4244-9436-1
DOI :
10.1109/MACE.2011.5987852
