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

Abstract - In this paper, a novel 6-DOF precise parallel robot q@{Bt{$x  
with structure of HTRT is presented. The robot is driven by six v/_  
AC servo motors, including a moving platform, a base platform X(NLtO w  
and six identical chains connecting the two platforms. Inverse 7'Mm205\  
kinematic solution, Jacobin matrix, singularities, and workspace $` ""  
of the end-effector are discussed. In order to achieve high !z>6Uf!{  
accuracy, an error compensation method for the parallel robot 4%4 }5UYN  
using back propagation neural networks (BPNN) is developed on m;,N)<~  
the basis of error analysis. Experimental results show that the mHRiugb!  
pose accuracy of the parallel robot was improved by more than #{;k{~;PF  
60% after error compensation. A series of optical assemblys w(L4A0K[  
demon .. E 7{U|\  
^~etm  

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