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Separation of Comprehensive Geometrical Errors of a 3-DoF Parallel Manipulator Based on Jacobian Matrix and its Sensitivity Analysis with Monte-Carlo Method
parallel kinematic machines (PKMs) limited-degree-of-freedom (limited-DoF) error separation
2011/8/4
Parallel kinematic machines (PKMs) have the advantages of a compact structure, high stiffness, a low moving inertia, and a high load/weight ratio. PKMs have been intensively studied since the 1980s, a...
Dynamic Feedforward Control of a Novel 3-PSP 3-DOF Parallel Manipulator
parallel manipulator dynamic feedforward control
2011/8/4
Parallel manipulators with less than six degrees of freedom (DOF) have been increasingly used in high-speed hybrid machine tools. The structural features of parallel manipulators are dynamic, a charac...
Kinematic Calibration and Forecast Error Compensation of a 2-DOF Planar Parallel Manipulator
parallel manipulator kinematic calibration error compensation minimal linear combinations (MLCs)
2011/8/4
This paper presents a method combined step kinematic calibration and linear forecast real-time error compensation in order to enhance the precision of a two degree-of-freedom (DOF) planar parallel man...
Dynamic Feedforward Control of a Novel 3-PSP 3-DOF Parallel Manipulator
parallel manipulator dynamic feedforward control high-speed hybrid machine tool
2011/8/4
Parallel manipulators with less than six degrees of freedom (DOF) have been increasingly used in high-speed hybrid machine tools. The structural features of parallel manipulators are dynamic, a charac...
Separation of Comprehensive Geometrical Errors of a 3-DoF Parallel Manipulator Based on Jacobian Matrix and its Sensitivity Analysis with Monte-Carlo Method
parallel kinematic machines (PKMs) limited-degree-of-freedom (limited-DoF)
2011/8/4
Parallel kinematic machines (PKMs) have the advantages of a compact structure, high stiffness, a low moving inertia, and a high load/weight ratio. PKMs have been intensively studied since the 1980s, a...
空间转动型并联机构动力学性能指标分析（Dynamic Performance Indices Analysis of 4-SPS-1-SSpatial Rotation Parallel Manipulator）
并联机构 动力学性能指标 承载力性能
2010/12/28
通过建立冗余驱动4-SPS-1-S型并联机构的速度映射解析方程，求出机构的Jacobian矩阵；引入并定义承载力与驱动性能作为机构的动力学性能评价指标，建立了衡量并联机构承载能力和驱动性能的解析方程，结合具体算例仿真分析了该并联机构的两类动力学性能指标在任务空间的分布规律，对机构进行了动力学性能评价。研究结果表明，该机构的承载力与驱动性能指标在运动过程中呈现出较好的各向同性，在任务空间内具有较好的...
空间转动3-SPS-1-S型并联机构奇异位形研究（Singular Loci Analysis of 3-SPS-1-S Spatial Rotation Parallel Manipulator）
并联机构 奇异位形 运动性能 可操纵度
2010/5/5
奇异性是机构的固有性质，奇异位形分析对并联机构的轨迹规划和控制具有重要的意义。研究一种空间转动三自由度3-SPS-1-S型并联机构的奇异位形，构建了该并联机构的运动学模型，建立了机构位置逆解与速度映射解析方程，并求出了机构Jacobian矩阵；提出该机构奇异位形的判别准则，并引入了可操纵度这一运动性能评价指标进行奇异性分析。分析结果表明，该机构在指定任务空间具有良好的可操纵性与运动性能，但在工作空...