| 冗余驱动直角坐标串并联机器人位姿误差分析 |
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| 引用本文： | 罗建国,陆震.冗余驱动直角坐标串并联机器人位姿误差分析[J].机械设计,2007,24(1):66-69. |
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| 作者姓名： | 罗建国 陆震 |
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| 作者单位： | 1. 北京航空航天大学,北京,100083;华北科技学院,北京,101601
2. 北京航空航天大学,北京,100083 |
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| 摘 要： | 串并联机器人可分解成两个并联机器人的串联组合,并联机器人的各支链均为一串联支链,利用并联机构和串联机构的运动学等效,考虑各分支末端误差对最终运动平台位姿误差的影响,提出了基于动态和静态因素的综合分析方法,并给出了主要的影响因素,并以实例的形式对研究结论进行了有效性验证.
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| 关 键 词： | 串并联 冗余驱动 误差 影响因素 冗余驱动 直角坐标 串并联机器人 位姿误差分析 drive redundant robot error analysis 有效性验证 研究 影响因素 方法 综合分析 静态因素 动态 运动平台 末端误差 分支 运动学 串联机构 |
| 文章编号： | 1001-2354（2007）01-0066-04 |
| 修稿时间： | 2006-04-112006-09-25 |
Posture error analysis on the Cartesian coordinates serial-parallel robot with redundant drive |
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| LUO Jian-guo,LU Zhen.Posture error analysis on the Cartesian coordinates serial-parallel robot with redundant drive[J].Journal of Machine Design,2007,24(1):66-69. |
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| Authors: | LUO Jian-guo LU Zhen |
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| Affiliation: | 1. Beijing University of Aeronautics and Astronautics, Beijing 100083, China; 2. North China Institute of Science and Technology, Beijing 101601,China |
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| Abstract: | The serial-parallel robot can be resolved into the serial combination of two parallel robots.Each branch chain of the parallel robot is all a serial branch chain.By utilizing the kinematics equivalency and considering the influences on posture errors of the final moving platform affected by end errors of each branch,the synthetic analytical method based on dynamic and static factors was put forward.The main affection factor was presented and effectiveness verification has been carried out on the conclusion of study by the form of a living example. |
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| Keywords: | serial-parallel redundant drive error affection factor |
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