关键词: 并联机器人, 概率分布, 敏感误差, 数值分析, 位姿误差

Abstract: The 3-UPU parallel manipulator which possesses 3D pure translational motion is taken as studying case. The sensitivity of degree of freedom characteristics and kinematic errors resulting from various kinds of assembly errors is observed. Kinematic model of the manipulator is established and typical assembly errors are enumerated. Based on the model and particular probability distribution, forward solution is solved and discussed in two cases by numerical method. The position and orientation error of end effect or changing with time is presented when error fixed. By using probability distribution theory, the influence of error sources amplitude on position and orientation error of manipulator in the particular time is assessed. By analyzing and comparing the numerical results and simulation illustrations, status of different assembly errors acting on moving platform are obtained. The error sources are estimated according to the sensitivity.

Key words: Numerical analysis, Parallel manipulator, Position and orientation error, Probability distribution, Sensitive error