机器人机构的优化综合

应用最优化技术进行机器人的精度综合，确定能满足绝对位姿精度和重复位姿精度要求，并可使公差制造成本最低的最优连杆参数公差和关节伺服定位精度。在误差概率分析的基础上，建立了机器人机构精度概率优化综合的数学模型。

Optimization synthesis for mechanism of robot

Carrying out accuracy synthesis by utilizing optimization techniques this paper determined the optimal parametric tolerances of links and servo positioning accuracy of joints,which could satisfy the requirements of absolute pose accuracy and repeated pose accuracy and let the manufacturing costs of tolerances to be the lowest. On the basis of error probability analysis,a mathematic model for the optimization synthesis of accuracy probability of robotic mechanism is established.