Accuracy Analysis for 6-DOF PKM with Sobol Sequence Based Quasi Monte Carlo Method  

作　　者：Jianguang Li Jian Ding Lijie Guo Yingxue Yao Zhaohong Yi Huaijing Jing Honggen Fang 

机构地区：[1]School of Mechatronics Engineering,Harbin Institute of Technology [2]Shanghai Aerospace Equipments Manufacturer

出　　处：《Journal of Harbin Institute of Technology(New Series)》2015年第5期1-8,共8页哈尔滨工业大学学报（英文版）

基　　金：Sponsored by the National Defense Basic Scientific Research Program(Grant No.A0320110019);the Shanghai Science and Technology Innovation Action Plan(Grant No.11DZ1120800)

摘　　要：To improve the precisions of pose error analysis for 6-dof parallel kinematic mechanism( PKM)during assembly quality control,a Sobol sequence based on Quasi Monte Carlo( QMC) method is introduced and implemented in pose accuracy analysis for the PKM in this paper. The Sobol sequence based on Quasi Monte Carlo with the regularity and uniformity of samples in high dimensions,can prevail traditional Monte Carlo method with up to 98. 59% and 98. 25% enhancement for computational precision of pose error statistics.Then a PKM tolerance design system integrating this method is developed and with it pose error distributions of the PKM within a prescribed workspace are finally obtained and analyzed.To improve the precisions of pose error analysis for 6-dof parallel kinematic mechanism（ PKM）during assembly quality control,a Sobol sequence based on Quasi Monte Carlo（ QMC） method is introduced and implemented in pose accuracy analysis for the PKM in this paper. The Sobol sequence based on Quasi Monte Carlo with the regularity and uniformity of samples in high dimensions,can prevail traditional Monte Carlo method with up to 98. 59% and 98. 25% enhancement for computational precision of pose error statistics.Then a PKM tolerance design system integrating this method is developed and with it pose error distributions of the PKM within a prescribed workspace are finally obtained and analyzed.

关 键 词：accuracy analysis quasi monte carlo(QMC) sobol sequence parallel kinematic mechanism(PKM) 

分 类 号：TH164[机械工程—机械制造及自动化]