Error Sensitivity Analysis of Novel Virtual Center Mechanism with Parallel Kinematics
2013; Volume: 49; Issue: 17 Linguagem: Inglês
10.3901/jme.2013.17.085
ISSN0577-6686
Autores Tópico(s)Robotic Locomotion and Control
ResumoAbstract˖The error model of a novel virtual center mechanism with parallel kinematics is established based on the modeling method of spatial error-vector chains.Thereafter, the mapping functions between the geometric error parameters and the output error parameters are generated.On the basis of the error model, the local sensitivity coefficient index and the global sensitivity coefficient index of each geometric error parameter are derived and graphically presented in atlases.Based on these atlases, the geometric error parameters' influence on the output accuracy of the virtual center mechanism is identified numerically.The results contribute a lot to the determination of the parts' tolerance and the output error of the control system.Key words˖Error model Virtual center mechanism Error sensitivity 0 ࠡᣄ 1 ᑊ༘ᴎᵘ݊⒱ɳᵘ໐᳝ᵘ௫ޥǃ߮ ᑺʌǃᛃₓᇣҹঞᗕડᑨĽᗻདӬ⚍ˈႮ⒲Ϫ ҹᴹᕫࠄњᄺᴃАᎹϮАՈᑓ⊯݇⊼ [1][2][3][4] DŽ✊໐ˈ ҹGough-Stewartᑇৄ [5] ЎൟҷᜬՈ6Ⴎϵᑺᑊ༘ ᴎᵘˈ݊ᴖՈড়ĽᗻǃᴖՈẔᄺҹঞ᳝ └ՈᎹाⒸ(ᇸ݊ᰃḰᎹाⒸṇᇣ)ሔ └ˈՓᕫᑊ༘ᴎᵘՈ┰࿁ᅲ┉ᑨϬЁ࿁ᕫࠄܙ * ᆊႮ✊ᄺₕ(51075222, 51135008) Ёमৢᄺₕ (2012M520256) ᰈ-ֲDŽ20130106 ᬊࠄ߱ःˈ20130501 ᬊࠄׂ ᬍः
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