|
Abstract: The method to control the uncompensatable pose error of a
class of 3-DOF parallel kinematic machines with parallelogram struts is
investigated. The error mapping function is formulated which allows the
geometric errors affecting the orientation accuracy of the moving
platform to be found. It is observed that the orientation error is
uncompensatable and the results of accuracy synthesis show that it is
impossible to control such error by allocating the manufacturing
tolerances to each related components since they are too tight to be
realized. Consequently, two schemes are proposed that allow the
orientation pose error to be effectively minimized by adding an
adjustable bush between two components of the carriages.
Key words: Parallel kinematic machine Error modeling Accuracy
synthesis Assembly process
CLC No: TH113
国家自然科学基金(50075059)、英国皇家学会国际合作基金(Q820)、天津市自然科学重点基金(003802111)和天津市“十五”重大科技攻关基金资助项目.
Received 20020605, received in revised form 20021215
|