Interpolation error prediction of a three-degree parallel kinematic machine

被引:6
作者
Wang, Y [1 ]
Huang, T
Gosselin, CM
机构
[1] Univ Laval, Dept Mech Engn, Quebec City, PQ G1K 7P4, Canada
[2] Tianjin Univ, Sch Mech Engn, Tianjin 300072, Peoples R China
关键词
D O I
10.1115/1.1767184
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
In this paper an NC interpolation algorithm for a tripod-based parallel kinematic machine is investigated. The algorithm can be implemented in two steps, the rough interpolation in the Cartesian space and the precise interpolation in the actuator space. The upper bound of the theoretical interpolation error due to the interpolation algorithm in the precise interpolation and nonlinear mapping is analyzed. The representation of the interpolation error distribution within the Cartesian space is depicted in terms of the variations of the interpolation period and the programming velocity. It was concluded that this error is sufficiently small and may be neglected.
引用
收藏
页码:932 / 937
页数:6
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