A Pose Resolution Analysis Method for a Stewart Parallel Robot

摘要

Abstract In order to develop a high-resolution 6-DOF parallel robot, a method for analysing parallel robot’s position and orientation resolution is proposed, which is based on the same scale scaling and quantifying of struts increment. Firstly, calculating struts increment of the target position and orientation. Secondly, reducing struts increment in the same proportion. Thirdly, quantifying them with the resolution of the strut, and the minimum struts increment and struts length are obtained. Lastly, six single DOF minimum motion increments, namely pose resolution, are obtained after forward kinematic solution. The analysis software is compiled with VC++, and the 6-DOF Stewart parallel robot for the secondary mirror of a high-resolution space camera is designed. The measured results show that the analysis results of pose resolution are basically consistent with the measured values, and the analysis method has strong engineering guiding value.