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- Title
新型2UPR/UPS/UP机构的误差模型与 几何误差灵敏度仿真.
- Authors
陈伟杰; 岳义; 韦宝琛; 崔国华; 潘颖; 陈文波
- Abstract
The analytical inverse solution of 2UPR/UPS/UP+AC pendulum hybrid mechanism was derived. With 2UPR/UPS/UP mechanism as the research object, the single-joint error model and branched-chain error model were systematically expounded, and the related geometric error sources were given. The error mapping models among the passive error, the pose error of the moving platform and the error sources of the motion pairs of each branch chain were established, and the error sensitivity of the error sources of each motion pair was simulated based on the mechanism error model. The research results can provide theoretical support for motion error distribution and precision design of 5-DOF hybrid robot engineering design based on 2UPR/UPS/UP parallel mechanism, as well as reference for error modeling and sensitivity analysis of other hybrid mechanisms and parallel mechanisms.
- Subjects
ENGINEERING design; ROBOT design &; construction; SENSITIVITY analysis; ANALYTICAL solutions; PENDULUMS; PARALLEL robots
- Publication
Journal of Shanghai University of Engineering Science / Shanghai Gongcheng Jishu Daxue Xuebao, 2022, Vol 36, Issue 4, p383
- ISSN
1009-444X
- Publication type
Article