| Autor: |
Ren, Rui, Ye, Chang Chun, Fan, Guo Bin |
| Zdroj: |
Advanced Materials Research; November 2012, Vol. 591 Issue: 1 p2081-2086, 6p |
| Abstrakt: |
A particular subset of 6-DOF parallel mechanisms is known as Stewart platforms (or hexapod). Stewart platform characteristic analyzed in this paper is the effect of small errors within its elements (strut lengths, joint placement) which can be caused by manufacturing tolerances or setting up errors or other even unknown sources to end effector. The biggest kinematics problem is parallel robotics which is the forward kinematics. On the basis of forward kinematic of 6-DOF platform, the algorithm model was built by Newton iteration, several computer programs were written in the MATLAB and Visual C++ programming language. The model is effective and real-time approved by forwards kinematics, inverse kinematics iteration and practical experiment. Analyzing the resource of error, get some related spectra map, top plat position and posture error corresponding every error resource respectively. By researching and comparing the error spectra map, some general results is concluded. |
| Databáze: |
Supplemental Index |
| Externí odkaz: |
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