Error Analysis of Three Degree-of-Freedom Changeable Parallel Measuring Mechanism

作     者：CHENG Gang GE Shi-rong WANG Yong 

作者机构：Institute of Reliability and Rescue Robotics China University of Mining ＆Technology Xuzhou Jiangsu 221008 China 

出 版 物：《Journal of China University of Mining and Technology》 (中国矿业大学学报（英文版）)

年 卷 期：2007年第17卷第1期

页      面：101-104页

核心收录：

学科分类：08[工学] 080203[工学-机械设计及理论] 0802[工学-机械工程] 

基　　金：Preject 50225519 supported by the National Outstanding Youth Science Foundation of China 

主　　题：parallel mechanism changeable measuring mechanism kinematics forward analysis error model error analysis 

摘      要：A three degree-of-freedom (DOF) planar changeable parallel mechanism is designed by means of control of different drive parameters. This mechanism possesses the characteristics of two kinds of parallel mechanism. Based on its topologic structure, a coordinate system for position analysis is set-up and the forward kinematic solutions are analyzed. It was found that the parallel mechanism is partially decoupled. The relationship between original errors and position-stance error of moving platform is built according to the complete differential-coefficient theory. Then we present a special example with theory values and errors to evaluate the error model, and numerical error solutions are gained. The investigations concentrating on mechanism errors and actuator errors show that the mechanism errors have more influences on the position-stance of the moving platform. It is demonstrated that improving manufacturing and assembly techniques can greatly reduce the moving platform error. The small change in position-stance error in different kinematic positions proves that the error-compensation of software can improve considerably the precision of parallel mechanism.