高技术通讯2012，Vol.22Issue(6)：644-650,7.DOI:10.3772/j.issn.1002-0470.2012.06.014
基于概率的4自由度UPU并联机构误差敏感性分析
Study on error sensibility of 4DOF UPU parallel manipulators based on probability distribution
摘要
Abstract
This paper takes a 4 DOF UPU parallel manipulator possessing the function of 3 translational and 1 revolute (3T1R) motion as a studying object to analyze parallel manipulators' sensitivity to various kinds of twist angle errors that have an impact on manipulators' DOF characteristics and kinematic errors. A kinematic model for manipulators is established and typical twist angle errors are enumerated. Based on the model and particular probability distribution, forward solution is solved and discussed in two cases by the numerical method. Firstly, the position and orientation error of the end effector changing with time is presented when error is fixed. Secondly, by using the probability distribution theory, the influence of error sources amplitude on the position and orientation error of manipulators in the particular time is assessed. With analyzing and comparing the numerical results and simulation illustrations, status of different twist angle errors acting on the moving platform are obtained. The error sources are estimated according to the sensitivity.关键词
并联机构/4自由度(DOF)/位姿误差/敏感误差/数值分析/概率分布Key words
parallel manipulator/ 4DOF/ position and orientation error/ sensitive error/ numerical analysis/ probability distribution引用本文复制引用
郭盛,王乃玥,方跃法,李霄霄..基于概率的4自由度UPU并联机构误差敏感性分析[J].高技术通讯,2012,22(6):644-650,7.基金项目
国家自然科学基金(51075025)资助项目. （51075025）
