针对Stewart平台式的6-THRT型并联机构的研究，提出了一种中心轴测量模型。采用一般工业机器人位姿误差分析法，建立并联机构的误差模型，并结合单杆固定法来获取末端位姿信息，该模型包含了杆的制造、安装及铰链的位置安装等几何参数误差。通过Matlab软件进行仿真运算，分析了影响末端位姿的主要误差源。该研究为并联机器人的误差补偿提供了一定的理论依据。%To analyze the Stewart platform type 6-THRT paral el machine,this paper presents a central axis measuring mechanism model. The error model of the measuring mechanism is established by using general industrial robot pose error analysis method. And the fixation method is used to get the end position and orientation information. Al geometric parameters of the manufacturing and instal ation of its hinge and branches are put into the model. Then,the main error sources which have on impact on position and posture of moving platform are analyzed by using Matlab. The study provides a theoretical basis for the paral el Manipulator error compensation.
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