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.
[1] Albus J,Bostelman R,Dagalakis N.MST ROBOCRANE[J].Journal of Robotic Systems,1993,10(5):709～724.
[2] Jeong J W,Kim S H,Kwak Y K.Design and kinematic analysis of the wire parallel mechanism for a robot pose measurement[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].Hscataway,NJ,USA:IEEE,1998.2941～2946.
[3] 汤奥斐,仇原鹰,段宝岩.柔索驱动并联机器人的误差分析及其标定仿真[J].组合机床与自动化加工技术,2007,(12):1～4.Tang Ao-fei,Qiu Yuan-ying,Duan Bao-yan.Error analysis and calibration simulation of a wire driven parallel robot[J].Modular Machine Tool and Automatic Manufacturing Technique,2007,(12):1～4.
[4] 孙奕澎,高贯斌,王希民,等.五自由度并联机床的误差分析[J].组合机床与自动化加工技术,2003,(5):7～8.Sun Yi-peng,Gao Guan-bin,Wang Xi-min,et al.Error analysis of a 5-DOF parallel machine[J].Modular Machine Tool and Automatic Manufacturing Technique,2003,(5):7～8.
[5] 隋春平,张波,赵明扬,等.一种3自由度并联柔索驱动柔性操作臂的建模与控制[J].机械工程学报,2005,41(6):60～65.Sui Chun-ping,Zhang Bo,Zhao Ming-yang,et al.Modeling and control of a 3-DOF parallel wire driven flexibie manipulator[J].Chinese Journal of Mcchanical Engineering,2005,41(6):60～65.
[6] 谭月胜,孙汉旭,肖爱平,等.模块化柔性臂空间机器人运动误差分析[J].机械设计,2004,21(9):14～16.Tan Yue-sheng,Sun Han-Xu,Xiao Ai-ping,et al.Kinematical error analysis of modularized flexible-arm space robot[J].Journal of Machine Design,2004,21(9):14～16.
