Kinematics Analysis And Accuracy Study Of6-sps Parallel Robot

Parallel robot is a kind of knowledge-intensive robots, and parallel robottechnology is an interdiscipline recently developed and valued these years, whichcontains the latest research production and knowledge of multi-discipline such asmechanism, mechanical design, engineering mechanics, computer engineering, scienceetc. It has more advantages over serial robots in terms of stiffness, high load, highprecision, low error, and good performance.It also represents the the highest level ofmechatronic engineering. Parallel robot, as a new object of discipline, has been widelyapplied in most fields of social life. In addition, along with the needs of thedevelopment of science and technology, the innovation of robot design is put forwardhigher request. So it is greatly significant to research and develop parallel robot.Firstly, the inverse solution equations of6-SPS parallel robot is deduced, thena new method called length successive approximation is proposed to solve the forwardkinematics problems based on inverse solution equations in this chapter. The forwardsolution equations of position afterwards are verified with a compute instance, whichproves the validity of this method.The effect factors to workspace of6-SPS parallel robot are analysed, and ageometric method of solving workspace is proposed in the case of pose. This methodhas solved the boundary equations based on the known inverse kinematics equation.Accordingly, the workspace of6-SPS parallel robot is proved an intersection of sixsame size spheres.The characteristics of mechanism of6-SPS parallel robot are analysed, thenthe pose error model of Stewart mechanism is established combine with robotdifferential relations. After that, the pose error curves caused by both initial lengtherror and hinge location error are respectively drawn but when the robot has the sametrack. The simulation results show the initial length error is the main error source of6-SPS parallel robot. In the last chapter, the pose error compensation model isestablished combine with mechanism characters of Stewart and pose error forwardequations. Finally, the pose error compensation model does improve the accuracy ofpose,witch verifies the effectiveness of the proposed method.