【摘要】 通过对 6 SPS型并联机器人位置输入输出方程微分 ,建立机器人误差模型。在此基础上 ,运用误差独立作用原理和原始误差等效作用原则 ,对并联机器人进行精度综合。该方法将并联机器人精度综合这一原本为多目标多变量的非线性最优化组合问题转化为线性问题 ,因而简单可行 ,具有一定的实用价值。更多还原

【Abstract】 The error model of the 6-SPS parallel manipulator is provided by differentiating the displacement input-output functions. Based on this, the independent and equal effect principle of error is applied to the accuracy synthesis of a 6-SPS parallel manipulator, it changed a multivariable, multi-object and non-linear problem into a simple linear problem .更多还原