摘要
喷浆机器人的大臂结构采用了四连杆结构,为了满足其运动过程中对高度定位误差的要求,对机器人各构件的加工尺寸误差、安装位至误差及主动件的运动位里误差在其中的影响程度做了全面分析,为各部分误差经济、合理地确定提供了科学依据。最后,借助概率统计方法,求得了六臂运动过程中定位的极限误差。
The arm of shotcreting robot adopts the four-bar-linkage structure. In order to meet the height location demand of theam during moving process , the effects of the manufacturing preci-sion,assembly precision and moving position of each parts of theshotcreting robot are analyzed. A scientific basis is econohacally andrationally provided for parts error. At last, with the assistance ofprobability statistics, the location limit error of the arm is obtainedwhile the arm is moving.
出处
《矿山机械》
北大核心
1998年第6期17-19,共3页
Mining & Processing Equipment
基金
国家863计划
关键词
四连杆
大臂运动
定位
误差
喷浆机器人
Robot, Four-bar-linkage, Error analysis, probability statistic