Kinematics reliability and simulation of 3-RPS parallel robot

被引：0
|
作者：
Sun, Zhili [1 ]
Qiang, Yang [1 ]
Ming, Yan [1 ]
Zhong, Nannan [2 ]
机构：
[1] NorthEastern Univ, Sch Mech Engn & Automat, Shenyang 110004, Peoples R China
[2] Shenyang Normal Univ, Sch Foreign Languages, Shenyang 110004, Peoples R China
来源：
TWELFTH ISSAT INTERNATIONAL CONFERENCE RELIABILITY AND QUALITY IN DESIGN, PROCEEDINGS | 2006年
关键词：
3-RPS parallel robot; kinematics reliability; Monte Carlo; virtual prototype technology; errors;
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
According to the forward and inverse kinematics of 3-RPS parallel robot. the influences on kinematics reliability of the robot's end effector by length errors of legs and location errors of ball joints are considered together. and a calculation model of kinematics reliability is presented. The simulation study based on ADAMS 12.0 is proposed applying Monte Carlo: A parametric virtual prototype is built up in ADAMS/View; considering that length errors of legs and location errors of ball joints should accord with normal distribution, groups of simulations are run with different distributing values got by random sampling and the relevant results of the robot's end effector are obtained. Degree of reliability (DOR) at any time is finally got by computation through comparison with the ideal value.
引用
收藏
页码：263 / +
页数：2
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