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Analysis of the Stewart Platform’s Error Sensitivity Based on Statistic Theory(PDF)

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

Issue:
2001年01期
Page:
67-70
Research Field:
Publishing date:

Info

Title:
Analysis of the Stewart Platform’s Error Sensitivity Based on Statistic Theory
Author(s):
LuQiang ZhangYouliang
School of Manufacture Engineering,NUST,Nanjing 210094
Keywords:
error analysis sensitivity machine tools precision stew art plat form
PACS:
TH161
DOI:
-
Abstract:
The volumetric error and its dist ribution of a kind of modif ied stewart platform are analyzed based on statist ic theory. To w holly reflect the error of moving plat form, three error sensitivities are defined according to covariance mat rix , and their changing rules in the w hole w ork space are analyzed. It is concluded that three error sensit iv it ies have the same chang ing t rend in w orkspace, and that of the three error sensit ivit ies, the max error sensit ivit iy is the most important one, it reflect s the max error of the moving platform.

References:

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2 Kev in C, Tatsuo A. A prototype parallel manipulator: kinematics, constr uction, software, w orkspace results, and singularity analysis. In: W A Gruv er , H E Stephanou. IEEE International Conference
on Robotics and Automation. Los Alamitos, Califor nia: IEEE Computer Society Press, 1991. 566~571
3 Timo R, T atsuo A. Accuracy analysis of a modified stew art platfo rm manipulator . In: W A Gruver,H E Stephanou. IEEE I nternat ional Conference on Robotics and Automation. Los Alamitos, California: IEEE Computer Society Press, 1995. 521~ 525
4 Patel A J, Ehmann K F. Volumetric erro r analysis of a stewart platform based machine tool. Annals o f the CIRP, 1997, 46( 1) : 287~ 290
5 赵志祥. 数据测量和评价工作中的数学处理. 北京: 原子能出版社, 1994

Memo

Memo:
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Last Update: 2013-03-25