Performance Analysis and Error Compensation of a 6-DOF Parallel Robot

摘要

In this paper, a novel 6-DOF precise parallel robot with structure of HTRT is presented. The robot is driven by six AC servo motors, including a moving platform, a base platform and six identical chains connecting the two platforms. Inverse kinematic solution, Jacobin matrix, singularities, and workspace of the end-effector are discussed. In order to achieve high accuracy, an error compensation method for the parallel robot using back propagation neural networks (BPNN) is developed on the basis of error analysis. Experimental results show that the pose accuracy of the parallel robot was improved by more than 60% after error compensation. A series of optical assemblys demonstrate that the parallel robot is suitable for performing precise manipulation.