期刊论文

Ma, X.

中文

农业机械学报

1000-1298

2007

38

11

123-128

10.3969/j.issn.1000-1298.2007.11.030

浙江省自然科学基金资助项目（项目编号 YL04347）

本校为其他机构

为了了解机构的原始误差对运动平台输出位姿的影响,从而采取措施消除误差来提高精度,对3T-1R 4自由度并联机器人机构作误差分析和补偿.在已建立的位置反解模型基础上,确定参与机构误差建模的结构参数,以全微分误差分析理论为基础,建立机构的误差模型以及误差求解算法.针对结构参数和输入运动参数等的原始误差作误差求解仿真和定量分析.充分运用误差正解和反解模型,探讨软件补偿法的工作空间补偿和关节空间补偿,提出相应的误差补偿算法.用误差补偿算法仿真了机构的误差补偿,实例说明2种误差补偿算法可靠实用.

In order to know the influence caused by the original mechanism errors for the position-stance outputs, and take measures against eliminating errors and improving the precision, this paper worked out error analysis and error compensation for 3T-1R 4-DOF parallel robot mechanism. Based on the positional inverse solution model, the error model and the computational error procedure for the mechanism were established. The error simulations and quantitative analysis were carried out when errors were aroused from original errors of the structural parameters and driving parameters. The error forward ...