【摘要】 并联机构由于其自身的结构特点,正引起人们越来越多的关注.基于球面三自由度并联机构,研制一种肩关节样机,对这种肩关节样机进行误差分析.基于其结构布局特点,在考虑各主要零部件的加工与装配误差等情况下,推导出这种肩关节的误差模型公式,定义了终端平台姿态误差和误差灵敏度系数,分析了终端平台误差在工作空间内的分布规律及各主要误差源对终端平台误差的影响情况,为这种肩关节样机的标定、运动学补偿及应用提供了理论基础.更多还原

【Abstract】 The error model of the mechanical anthropopathic shoulder,designed based upon the 3-DOF spherical parallel manipulator, was derived in closed forms by analyzing the mapping from the errors of structural parameters to the accuracy of terminal platform,the postural error evaluation index and the sensitivity evaluation index are defined based on the error model and discussed in detail,the distributions of the indices on the workspace are drawing by the soft of MATLAB.The analytical result can provide theoretical foundation for the precise compensation and applications of the mechanical anthropopathic shoulder.更多还原