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CAS IR Grid
机构
长春光学精密机械与物... [1]
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OAI收割 [1]
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会议论文 [1]
发表日期
2012 [1]
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Accuracy synthesis of a 3-RPS parallel robot based on manufacturing costs (EI CONFERENCE)
会议论文
OAI收割
31st Chinese Control Conference, CCC 2012, July 25, 2012 - July 27, 2012, Hefei, China
Yao T.-K.
;
Xi Z.
;
Feng Z.
;
Zhang L.-M.
;
Yong W.
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提交时间:2013/03/25
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.