Accuracy analysis of three degrees of parallel mechanism based on Monte Carlo Simulation

Hai Qiang Zhang; Jiang Long Tang; Kan Shi; Yan An Yao

doi:10.1117/12.2625290

12 December 2021 Accuracy analysis of three degrees of parallel mechanism based on Monte Carlo Simulation

Hai Qiang Zhang, Jiang Long Tang, Kan Shi, Yan An Yao

Proceedings Volume 12127, International Conference on Intelligent Equipment and Special Robots (ICIESR 2021); 121272C (2021) https://doi.org/10.1117/12.2625290
Event: International Conference on Intelligent Equipment and Special Robots (ICIESR 2021), 2021, Qingdao, China

Abstract

Kinematic accuracy is one of the most important indexes to evaluate whether the robot has application value and performance. In this paper, the manipulator of 3-PUU parallel robot is taken as the research object. The manipulator has three degrees of freedom. The dynamics and kinematics of the mechanism are analyzed, to deduce the input and output relationship of the mechanism, establish the transfer matrix according to the position error, and then establish the mathematical model related to the kinematic accuracy, and this paper gives the method of accuracy evaluation and calculation method. Monte Carlo method is used to simulate the reliability of the kinematic accuracy of the manipulator structure. Finally, the results show that this method of measuring robot kinematic accuracy is effective, which provides a theoretical basis for the follow-up research on mechanism optimization design and reduce error.

Citation Download Citation

Hai Qiang Zhang, Jiang Long Tang, Kan Shi, and Yan An Yao "Accuracy analysis of three degrees of parallel mechanism based on Monte Carlo Simulation", Proc. SPIE 12127, International Conference on Intelligent Equipment and Special Robots (ICIESR 2021), 121272C (12 December 2021); https://doi.org/10.1117/12.2625290

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