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	The Kinematics Solution and Error Analysis of a Type of Mobile Parallel Robot (MPR)
	Jicheng Li; Weiwei Lu; Ying Hu; Jianwei Zhang
	2011
会议名称	2011 IEEE International Conference on Automation and Logistics
会议地点	Chongqing, China
英文摘要	The Mobile Parallel Robot (MPR) is a new type of robot which integrates the mechanical characteristics of Mobile Robot and Parallel Robot. It can adjust position and orientation to suit to many special situations. This paper firstly analyzes the kinematics characteristics of MPR, including the inverse kinematics and the forward kinematics using analytic method. A motion simulation based on COSMOSMotion is given to illustrate the kinematic solutions are right. After analyzing the main error sources, we set up a completed error model. Then, we give the error detecting and error compensating method to increase the precision of MPR. To certificate the result, an experiment with vision system is done to illustrate that the mechanical characteristics meet the precision and MPR is a good supporting body to integrate more useful functions.
收录类别	EI
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/3357]
专题	深圳先进技术研究院_集成所
作者单位	2011
推荐引用方式 GB/T 7714	Jicheng Li,Weiwei Lu,Ying Hu,et al. The Kinematics Solution and Error Analysis of a Type of Mobile Parallel Robot (MPR)[C]. 见:2011 IEEE International Conference on Automation and Logistics. Chongqing, China.

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