中国科学院机构知识库网格系统: Accuracy synthesis of a 3-RPS parallel robot based on manufacturing costs (EI CONFERENCE)

中国科学院机构知识库网格

Chinese Academy of Sciences Institutional Repositories Grid

Accuracy synthesis of a 3-RPS parallel robot based on manufacturing costs (EI CONFERENCE)

文献类型：会议论文


作者	Yao T.-K. ; Xi Z. ; Feng Z. ; Zhang L.-M. ; Yong W.
出版日期	2012
会议名称	31st Chinese Control Conference, CCC 2012, July 25, 2012 - July 27, 2012
会议地点	Hefei, China
关键词	Pose accuracy is an important issue for parallel robot being used as mirror supporting system of telescope. One challenging topic is the accuracy synthesis which deals with the optimal design of the manufacturing and assembling tolerances of each component under the given pose accuracy. First the error model of the 3-RPS parallel robot is built based on total derivation of the kinematic equations. And the error variable of each spherical or rotate joint can be expressed as a single boundary error parameter but not three independent position parameters. Then the accuracy synthesis model is formulated taking the manufacturing costs as the optimization objective and the accuracy requirements as the constraint condition. Finally the genetic algorithm is used to solve the optimization problem and a simulation example is given. The results show that the accuracy synthesis method based on manufacturing costs can satisfy the need of pose accuracy and is better for engineering application than the method based on error sensitivity. 2012 Chinese Assoc of Automati.
页码	5168-5172
收录类别	EI
源URL	[http://ir.ciomp.ac.cn/handle/181722/33427]
专题	长春光学精密机械与物理研究所_中科院长春光机所知识产出_会议论文
推荐引用方式 GB/T 7714	Yao T.-K.,Xi Z.,Feng Z.,et al. Accuracy synthesis of a 3-RPS parallel robot based on manufacturing costs (EI CONFERENCE)[C]. 见:31st Chinese Control Conference, CCC 2012, July 25, 2012 - July 27, 2012. Hefei, China.

入库方式： OAI收割

来源：长春光学精密机械与物理研究所

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