【摘要】 在获得 ６６ Ｓ Ｐ Ｓ六自由度 Ｓｔｅｗ ａｒｔ并行机构封闭运动学位姿正解精确解析的基础上，提出了六自由度并行机构位姿误差的一种分析方法．针对一种 Ｘ型 Ｓｔｅｗ ａｒｔ 并行机构，进行了必要的数字模拟位姿误差分析．模拟结果表明：在杆长所限定的工作空间里，与 Ｙ型 Ｓｔｅｗ ａｒｔ 并行机构相比， Ｘ型 ６６ Ｓ Ｐ Ｓ六自由度 Ｓｔｅｗ ａｒｔ 并行机构除在特殊形位对于六杆综合输入误差具有较高的放大作用外，对于六杆综合输入误差的放大作用要小近一个数量级．更多还原

【Abstract】 The pose error analysis was based on the exact closed form forward kinematics of the 6 6 6DOF Stewart in parallel mechanisms. The simulation studies were carried out, especially for the X type 6 6 6DOF Stewart in parallel mechanisms. The results indicated that the combined error inputs from the active and passive joints could be amplified significantly. This is especially true for the Y type 6 6 6DOF Stewart in parallel mechanisms.更多还原