Position and Orientation Error Analysis of a New 3-PRS Parallel Mechanism

Zhao Junwei; Dang Shanshan; Chen Guoqiang; Huang Junjie

doi:10.16578/j.issn.1004.2539.2016.07.032

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Position and Orientation Error Analysis of a New 3-PRS Parallel Mechanism

更新时间：2022-10-20

- Position and Orientation Error Analysis of a New 3-PRS Parallel Mechanism
- Vol. 40, Issue 7, Pages: 146-151(2016)
- 作者机构：
  
  1. 河南理工大学机械与动力工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2016.07.032
  CLC：
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[1]赵俊伟,党珊珊,陈国强,黄俊杰.一种新型3-PRS并联机构的位姿误差分析[J].机械传动,2016,40(07):146-151.

Zhao Junwei, Dang Shanshan, Chen Guoqiang, et al. Position and Orientation Error Analysis of a New 3-PRS Parallel Mechanism. [J]. 40(7):146-151(2016)
[1]赵俊伟,党珊珊,陈国强,黄俊杰.一种新型3-PRS并联机构的位姿误差分析[J].机械传动,2016,40(07):146-151. DOI： 10.16578/j.issn.1004.2539.2016.07.032.

Zhao Junwei, Dang Shanshan, Chen Guoqiang, et al. Position and Orientation Error Analysis of a New 3-PRS Parallel Mechanism. [J]. 40(7):146-151(2016) DOI： 10.16578/j.issn.1004.2539.2016.07.032.

摘要

针对一种新型3-PRS并联机构的3个基座位置可调、工作空间可变的特点,分析该机构的末端位姿误差,提出了采用几何解析法求该机构的运动学正解,进而推导出动平台末端位姿误差的分析方法,并运用软件仿真3个基座在不同位置时的动平台末端位置和方向。结果表明,3个基座在取不同参数时,末端的位姿误差有明显变化。此研究对该新型3-PRS并联机构的误差补偿提供了有益指导。

Abstract

Aiming at the analysis of the position and orientation error on the new 3- PRS parallel mechanism with three adjustable pedestals and variable working space,a geometric analytic method for the forward kinematics analysis of the 3- PRS parallel mechanism is proposed,then the analysis of the working platform end- effector error is derived,and what’s more,the position and orientation of the working platform end- effector is obtained by using software emulation when the three pedestals at different positions. The results show that the end- effector error has obvious changes with the different positions of the three pedestals. This study provides a useful guidance for the error compensation of the new 3- PRS parallel mechanism.

关键词

新型3-PRS并联机构基座可调正向运动学位姿误差

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