Analysis And Error Modeling Of 5-dof Parallel Tripod Head

In order to improve the accuracy of parallel robot motion and the cognitive ability when it works, promote the combination of machine vision technology and parallel robot mechanism in the same time, in this paper we will discuss the kinematics, statics and precision problems after the development of an active visual monitoring platform or the parallel robot experimental prototype has been completed.Firstly, Describe the structure characteristics of the new type parallel vision platform, analysis the freedom movement of the mechanism. and obtains the method of positive solution and position reverse solution equations, based on position analysis of the mechanism. According to the given parameters of mechanism simulate its attitude. Solve the agency’s work space and gives the three-dimensional map of the work space, discuss the influence of structure parameters on the platform.Secondly, Describe the motion state of mechanism bar used motion screw which based on the screw theory, and analysis the kinematics of parallel platform more over. Analysis the mechanism velocity and acceleration combined with the principle of virtual work and screw theory. Establish the Jacobian mapping relationship between motion platform speed, acceleration and each branch rods speed, acceleration Given MATLAB motion simulation of mechanism with the given joint kinematics’ parameters.Finally, Make all static’s analysis solutions of the mechanism, build the Jacobian matrix based on the Principle of virtual work, defined evaluation index of static bearing capacity, draw a map of evaluation index in the space. Analysis the influence of different structural parameters on the performance of the visual monitoring platform. Established the equation relationships between the parameters of mechanism error and the moving platform pose error, given the error evaluation indicators of performance mechanism, put forward strict requirements inhibition of the errors.