可重構(gòu)混聯(lián)機械手模塊——TriVariant的精度設(shè)計與運動學(xué)標(biāo)定方法研究.pdf

1、天津大學(xué)博士學(xué)位論文可重構(gòu)混聯(lián)機械手模塊——TriVariant的精度設(shè)計與運動學(xué)標(biāo)定方法研究姓名：洪振宇申請學(xué)位級別：博士專業(yè)：機械制造及其自動化指導(dǎo)教師：黃田20070101天津大學(xué)博士學(xué)位論文ABSTPACTThisdissertationdealswiththetheoryandmethodologyfortheaccuracyproblemofa5DOFreconfigurablehybridrobotmoduleinclud

2、ingerrormodeling，accuracysynthesisandkinematiccalibrationThefollowingcontributionshavebeenmade口The鋤rmodelsoftheTriVariantandtheTriceptrobotsaleformulatedusingthemethodofvectorchainAnovelapproachforerrormodelingispresente

3、dforsuchrobotsItcallbeconcludedthatthecompensatableanduncompensatableerrorsofthemobileplatformaredominatedbytheerrorsoftheunconstraineduPslimbsandproperconstraintUPlimbItshowsthattheTriVariantrobothascompetitiveaccuracyp

4、erformanceincomparisonwiththeTriceptrobotprovidedthatthetaskworkspaceanddimensionalparametersareidentical口BytakingtheTriVariant舔anexampleanovelapproachforsensitivityanalysisisproposedforsub6parallelmechanismswhichtheprop

5、erconstraintlimbSuchmethodhasdistinctlyphysicalmeaningandenablestoprovideaguidanceforthedesign，manufacturiiagandassembly口ThemethodforkinematiccalibrationisinvestigatedbasedonthemeasureddatausingDoubleBallBarFirstlythemap

6、pingmodelbetweenthemeasuredvaluesandthegeometricsourceserroraffectingthecompensatableerrorsofthemobileplatformisconstructedThenthemethodforproperlyassigningtheassemblylocationandnumberofDoubleBall—Barbytakingthecondition

7、numberoftheidentificationmatrixoferrorparametersasevaluationindexFinallythefeasibilityandeffectivenessoftheproposedmethodisverifiedbythecomputersimulationsandexperiments口Bytakinga5DOFhybridrobotwithrelativelylargeworkspa