Accuracy Synthesis of a 3-R2H2S Parallel Robot Based on Rigid-Flexible Coupling Mode

摘要

On the basis of accuracy analysis of rigid-flexible coupling model of 3-R2H2S parallel robot, the pose error analysis and synthesis is studied systematically in this paper. In terms of rigid analysis, the accuracy mathematical model of 3-R2H2S parallel robot is established by the differential theory based on the inverse solution. The independent and equal effect principle of error is applied to the accuracy synthesis of the robot. Through the computer simulation, the distribution of structure parameter errors is analyzed according to the allowable range of pose error. The simulation results show the active arm error has the most remarkable influence on the pose error of the parallel robot. As for flexible analysis, the rigid-flexible coupling model of 3-R2H2S is established by the software ADAMS and ANSYS. The simulation results of rigid-flexible coupling model show the elastic deformation of the fore arms plays a major role in the robot pose error. The methods proposed in this paper have provided theoretical basis for accuracy synthesis for parallel robot of this type.