Initial setup and Error Analysis of Wire-Driven Platforms
Date Issued
2005
Date
2005
Author(s)
Lan, Tzu-Huan
DOI
zh-TW
Abstract
This research focuses on the initial setup and error analysis of wire-driven platforms（WDP）. Firstly, methods without using external sensors are proposed for the initial setup of planer type WDP, which includes using assisting devices or using special geometric restrictions of WDP, and the procedures of initial setup are also developed. Then, the sources of errors and their effects while in a real operating WDP are discussed and investigated. The compensations are proposed in order to eliminate the errors caused by the apparatus of the platform mechanism. As to the effects of the errors, which cannot be avoided, such as the length error of the wire, to the position and posture of the platform are considered and analyzed. Finally, some practical cases are studied numerically, and the suggestions to reduce the effects of errors are purposed. Although, this study only takes the planar type WDP into consideration, the methods and the analysis developed in this study should be able to extend for the spatial type WDP, and could be useful for the application of WDP.
Subjects
線驅動平台
初始設定
誤差分析
Wire Driven Platform
Initial setup
Error Analysis
Type
thesis
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