Precision Analysis And Synthesis Of 3-UPU Parallel Robot

3-UPU parallel robot mechanism is very special,with better motor function,a series of advantages such as strong stability,so the satellite multidimensional vibration isolation system and parallel machine tool and other fields are widely used.This paper combines the theory with concrete examples,the mechanism simulation and analysis of simulation results,the accuracy of the conclusion.Is the key and practical research on robot theory.Analysis and comprehensive research on the precision of design process in institutions,institutional arrangements and appropriate error,is the main content of mechanism error analysis.Based on the 3-UPU parallel robot as the research target specific,to establish the position of positive and inverse solution model for the premise,the use of the closed loop vector method,and the error of independent action principle of mechanism error modeling solution mechanism operation,and combined with examples to prove the pose of the moving platform and the connecting rod to drive the value of the micro Relationships between the reliability mathematical model of positive solution error.Analysis of 3-UPU mechanism between geometry and position and attitude parameters and error contact,reasonable value range to obtain various parameters with nonlinear;the structural parameter errors,which can be created through the influence factor analysis model,obtain the pose error fluctuation curve of great impact factor the interval with relatively stable interval,through further analysis,the specific changes can be observed,the simulation results can be used for physical design of mechanism manufacture.The mechanism has three degrees of freedom of movement based on a reasonable accuracy compensation model,analysis to prove its accuracy by an example simulation;finally,the original error equivalent effect the principle and influence factor weighting method in two ways,creating a comprehensive model,and use the MATLAB software simulation,and verify the rationality of comprehensive method Superiority,the comprehensive results of the 3-UPU mechanism of the accuracy of the study is very meaningful.