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

Abstract - In this paper, a novel 6-DOF precise parallel robot IGNU_w4
j  
with structure of HTRT is presented. The robot is driven by six ^!fY~(=U4  
AC servo motors, including a moving platform, a base platform Swr4De_5  
and six identical chains connecting the two platforms. Inverse Z+=M_{`{  
kinematic solution, Jacobin matrix, singularities, and workspace VwOcWKD  
of the end-effector are discussed. In order to achieve high YS:p(jtd  
accuracy, an error compensation method for the parallel robot Q_>W!)p Gz  
using back propagation neural networks (BPNN) is developed on Z@
(KZ|  
the basis of error analysis. Experimental results show that the Q[{RNab  
pose accuracy of the parallel robot was improved by more than BU#3fPl  
60% after error compensation. A series of optical assemblys |'-%d^Z  
demon .. h0$Y;=YA  
RdBIbm  

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