On Accuracy of a Three DOF Parallel Wire Driven Robot
LIU Han-wei1,2, WANG Hong-guang1, LI Shu-jun2, HE Li-bo1
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Northeastern University, Shenyang 110004, China
刘含玮, 王洪光, 李树军, 何立波. 一种3自由度并联柔索驱动机器人的精度研究[J]. 机器人, 2008, 30(5): 392-397..
LIU Han-wei, WANG Hong-guang, LI Shu-jun, HE Li-bo. On Accuracy of a Three DOF Parallel Wire Driven Robot. ROBOT, 2008, 30(5): 392-397..
Abstract:Accuracy analysis and synthesis of a 3 DOF parallel wire driven robot(PWDR)are studied.Major factors influencing the pose accuracy of the robot are analyzed,and models of joint errors and wire errors are established.An accuracy synthesis algorithm is presented,and with allowable error of robot joint given,maximums of the assemblage error and the wire error are analyzed synthetically.The error models are validated by simulation.Experiments on the prototype indicate that kinematics accuracy of the robot can be improved with the wire error model.
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