Accuracy synthesis of new typed 6 DOF parallel robot based on self-adaptive genetic algorithm

Abstract

Precision design is an important means of the error calibration technique of robot.The accuracy synthesis is the contrary problem of precision analysis,which dealt with the problems of reasonably setting down the manufacturing tolerances of component parts and the assembling error of each joint after the maximum posture error of terminal manipulator had been given within the working space.On the base of precision analysis,basing on the independent effect principle of error and the equivalent effect principle of original error,considering the fit clearance error of motion pair and error of rod length,using the self-adaptive genetic algorithm and taking the minimization of manufacturing cost as the optimization target,this paper carried out the accuracy synthesis on the 6-DOF parallel platform mechanism.The result of solution of this method could satisfy the precision requirement and possesses practical value.