| 三自由度平面并联机器人误差分析 |
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| 引用本文： | 王波,张大鹏,李小满.三自由度平面并联机器人误差分析[J].江苏科技大学学报(社会科学版),2009,23(2):138-141. |
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| 作者姓名： | 王波 张大鹏 李小满 |
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| 作者单位： | 江苏科技大学,机械工程学院,江苏,镇江,212003
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| 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.
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| 关 键 词： | 并联机器人 误差分析 仿真 |
Accuracy analysis of a 3-dof planar parallel robot |
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| Wang Bo,Zhang Dapeng,Li Xiaoman.Accuracy analysis of a 3-dof planar parallel robot[J].Journal of Jiangsu University of Science and Technology:Natural Science Edition,2009,23(2):138-141. |
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| Authors: | Wang Bo Zhang Dapeng Li Xiaoman |
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| Institution: | School of Mechanical Engineering;Jiangsu University of Science and Technology;Zhenjiang Jiangsu 212003;China |
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| Abstract: | According to the 3-dof planar parallel robot mechanisms,the accuracy model was established by using the loop property of 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. |
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| Keywords: | parallel robot accuracy analysis simulation |
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