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

Abstract - In this paper, a novel 6-DOF precise parallel robot 00vBpsZj2;  
with structure of HTRT is presented. The robot is driven by six ^!:"Q3  
AC servo motors, including a moving platform, a base platform FT\?:wpKa  
and six identical chains connecting the two platforms. Inverse (!K+P[g  
kinematic solution, Jacobin matrix, singularities, and workspace 9$d.P6|d>  
of the end-effector are discussed. In order to achieve high 0x)dnq\  
accuracy, an error compensation method for the parallel robot &hZwZgV+3  
using back propagation neural networks (BPNN) is developed on pe04#zQK  
the basis of error analysis. Experimental results show that the oJ;rc{n-  
pose accuracy of the parallel robot was improved by more than S0@T0y#  
60% after error compensation. A series of optical assemblys _Sj}~H  
demon .. eS!C3xC;J]  
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