摘要
为了研究各种误差对并联机器人输出产生的影响,以三自由度平面并联机器人为例,利用并联机器人的环路特性,采用机器人微分理论,建立了误差正向模型.通过M atlab编程和计算机仿真,得出输出误差与机器人结构尺寸变化、位置和姿态变化的关系图.为该类型机器人的设计、制造、装配提供了指导依据.
Accordin the loop property of g to the 3-dof planar parallel robot mechanisms, the accuracy model was established by using the parallel mechanisms and differention of the kinematics. This model presented the effects of all possible error sources on robotic mechanisms. The effects of the structure size change and posture change on the accuracy of the robot were studied on the Matlab software. This provides the foundation for practical designing, manufacturing and assembling of the robot.
出处
《江苏科技大学学报（自然科学版）》
CAS
北大核心
2009年第2期138-141,共4页
Journal of Jiangsu University of Science and Technology:Natural Science Edition
关键词
并联机器人
误差分析
仿真
parallel robot
accuracy analysis
simulation
