Parameter Optimization and Tolerance Distribution of Small 6-SPS Stewart Platform
The fundamental design of parallel robot is consisting of parameter design and tolerance distribution.Expanding the robot position reachable workspace,generalized reachable workspace is proposed,which could reveal the variety of position work-space and posture workspace simultaneously.To maximize the generalized reachable workspace,the dimensions of 6-SPS Stewart platform need to be optimized.A several of initial dimensions,which could shape bigger position workspace and posture workspace relatively,is obtained by PSO algorithm.To minimize the manufacture cost without exceeding accuracy limit,the tolerances of each parameters need to be optimized as well.By analyzing the impact on dimensional tolerance and geometric tolerance on end accuracy,the overall construction of tolerance-precision relationship model is completed.
NETL
NSTL
万方数据
维普
