机械制造与自动化Issue(4)：135-139,5.
6-THRT并联机器人的误差模型研究
Error Model Research on 6-THRT Parallel Manipulator
摘要
Abstract
To analyze the Stewart platform type 6-THRT paral el machine,this paper presents a central axis measuring mechanism model. The error model of the measuring mechanism is established by using general industrial robot pose error analysis method. And the fixation method is used to get the end position and orientation information. Al geometric parameters of the manufacturing and instal ation of its hinge and branches are put into the model. Then,the main error sources which have on impact on position and posture of moving platform are analyzed by using Matlab. The study provides a theoretical basis for the paral el Manipulator error compensation.关键词
误差模型/误差分析/测量机构Key words
error model/error analysis/measuring mechanism分类
信息技术与安全科学引用本文复制引用
阮远强,李开明..6-THRT并联机器人的误差模型研究[J].机械制造与自动化,2014,(4):135-139,5.基金项目
准阴工学院省、部级重点(建设)实验室开放基金课题( HGDML-0804)。 （建设）
