关键词: 运动可靠性, 并联机器人, 改进Delta机构, 误差建模, 运动学分析

Abstract:

Kinematic accuracy is an important index to evaluate the quality of mechanisms. Kinematic accuracy analysis of the parallel mechanisms in previous study ignores the randomness of each input error component, so the conclusions are imprecise. Using the homogeneous transformation, inverse kinematics of the improved Delta mechanism is calculated. Based on the inverse kinematics and the first order Taylor approach, error model considering original errors from kinematic parameters describing the mechanism’s geometry, clearance errors of revolving pair and driving errors are presented.

Key words: kinematic , reliability,  , parallel , robot,  , improved , Delta , mechanism,  , error , model,  , kinematic , analysis