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

Volume

1

fYear

2010

fDate

11-12 May 2010

Firstpage

706

Lastpage

710

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICICTA.2010.824

Filename

5522969