Title :
Analysis on the Influence of Parallelogram Mechanism to the Posture Error of Movable Platform in the Parallel Robot
Author :
Guo, Jianye ; Li, Jingkui ; Shi, Jiashun ; Zhang, Yanli
Author_Institution :
Shenyang Inst. of Aeronaut. Eng., Shenyang, China
Abstract :
This paper takes one kind of 3-TPT parallel robot as the object to study. It mainly analyzes the posture error of movable platform influenced by the parallelogram mechanism of parallel robot. Firstly, on the basis of introducing the structure of parallel robot, the kinematics equation of the parallelogram mechanism of this parallel robot is analyzed and established. Secondly, the influence of two kinds of factors including the shape error of parallelogram mechanism and the micro-rotation of Hooker joint around the axis of connecting rod is analyzed respectively, and the theoretical relationship expression is acquired between various errors influencing factor and the posture error of movable platform in the parallel robot, thus the foundation for the theoretical error analysis of this parallel robot is laid.
Keywords :
error analysis; robot kinematics; 3-TPT parallel robot; error analysis; hooker joint microrotation; movable platform; parallelogram mechanism; posture error; robot kinematics; Aerospace engineering; Concurrent computing; Equations; Error analysis; Fasteners; Intelligent robots; Joining processes; Parallel robots; Robot kinematics; Robotics and automation; Movable Platform; Parallel Robot; Parallelogram Mechanism; Posture Error;
Conference_Titel :
Intelligent Computation Technology and Automation (ICICTA), 2010 International Conference on
Conference_Location :
Changsha
Print_ISBN :
978-1-4244-7279-6
Electronic_ISBN :
978-1-4244-7280-2
DOI :
10.1109/ICICTA.2010.824
