Study On Error Analysis And Optimization Of Two Freedom Redundancy-Driven Parallel Robot

Redundancy mechanism will be benefit to improve rigidity of mechanism, orientation precision, avoid-barrier capability, dynamics characteristic and reasonable distributing of load. One kind of seven-bar redundancy-drive parallel robot is as the object of research in this paper, some technology are studied, include mechanism kinematics, precision, mechanism configuration and so on. The main content and conclusion are show as below:1,The kinematics of the Redundancy parallel mechanism is analyzed. Known as some mechanism parameters such as length of rods, angle-velocity, and angle-acceleration, the rules of geometrical position, velocity and acceleration of the output point are simulated.2,Mechanism's geometry precision model is builted respectivly taking into account of factors such as error of rods and clearance of movement pairs. The error-distributed rules of the output point introducing the above factors are gained.3,Genetic Algorithm is used to realize the optimize distribution of manufacture error and assemble error under the given constraint condition and optimization target.4,Based on the opened-loop mechanism's workspace position relation and assemble qualification of mechanism, the mechanism configuration problem of the four-bar, five-bar and seven-bar is studied primarily.