并联Stewart机构位姿误差分析

从并联机构与串联机构的运动学等效 ,并联机构本身特征与并联机构实际工作空间出发 ,考虑各分支末端误差对最终运动平台末端误差的影响 ,提出了并联机构位姿误差放大因子分析法·依据位姿误差放大因子具有对误差定量分析的特点 ,该分析方法既可用于机构参数优化 ,又可用于结构精度设计· 最后 ,给出了一个实例说明本方法的有效性·

Based on the kinematics equivalent between the parallel and serial mechanism, from the mechanism characteristics and workspace of the Stewart platform, an analysis method for the pose  error amplification factor of parallel mechanism was proposed. This method considers the influeuce of branch end  effector by defining error propagation coefficients, and the errors relationship between the structural parameters and the pose of the end  effector can be evaluated. The analysis method can be used to optimize the structure parameters and for structure precision design. Finally, an example was given to show the efficiency of the method.

国家“八六三”高技术计划! ( 86 3- 0 5- 10 );;中国科学院机器人开放实验室基金! (K96 0 10 6 )