Precision Analysis And Synthesis Of 4-RPTR Parallel Robot

Precision is one of the most important indexes of parallel robot design, manufacture and control, and now the research on parallel robot precision is not sufficient. Research for the precision analysis and synthesis and rational distribute the parameter error on the stage of structure design is the important work of accuracy research.Based on the 4-RPTR platform, this dissertation deals systemically with the precision analysis and synthesis of parallel manipulators.The forward and inverse kinematics problem model is formulated used analytic method, then use the numerical examples indicate the accuracy of the model. Use differential relationship of robot formulate the forward pose precision analysis model for the end effectors in terms of the close-loop vectors of a parallel manipulator and the forward kinematics problem. The modeling method can also be used to the accuracy analysis of other parallel manipulators and spatial mechanisms.The dissertation comprehensively analyze the effects of 4-RPTR parallel robot structure and pose parameters on the pose errors of the end effectors and give the value range of reasonable structure parameters. According to the characteristics of the pose errors of parallel manipulators put forward influence factor analysis method, then analyze the effects of structure parameter errors on the pose errors.Model of precision compensate was present, then use the numerical examples indicate the accuracy and effectiveness of the model. Formulate the accuracy synthesis model by means of the error theory, put forward two methods for pose precision synthesis:principle that primary errors exert the same effects on the driven member and the influence factors of the pose errors. The numerical examples indicate the necessity and effectiveness of the methods.