| 基于齐次坐标变换的塔式起重机综合运动误差建模 |
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| 引用本文： | 吴昊,刘大宝,肖学会,杨建国. 基于齐次坐标变换的塔式起重机综合运动误差建模[J]. 起重运输机械, 2010, 0(9): 9-13 |
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| 作者姓名： | 吴昊 刘大宝 肖学会 杨建国 |
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| 作者单位： | 1. 山东省特种设备检验研究院,济南,250013
2. 上海交通大学,上海,200240 |
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| 摘 要： | 通过研究塔式起重机各工作机构的结构形式和运行方式,分析了各工作机构的运动误差;在塔式起重机各工作机构上建立局部坐标系,使用齐次坐标变换法建立了塔式起重机的综合运动误差模型。所建模型不仅为塔式起重机各工作机构机械优化设计提供了理论依据,还为今后塔式起重机运动误差控制指明了方向。
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| 关 键 词： | 塔式起重机 齐次坐标变换 综合误差 建模 |
Modeling of composite motion error of tower crane based on homogeneous coordinate transformation |
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| Abstract: | Through the study on the structure and operation mode for each operation mechanism of the tower crane, this paper analyzes the motion error of each operation mechanism; local coordinate system is established on each operation mechanism of the tower crane, and the composite motion error model of the tower crane is set up by using the method of homogeneous coordinate transformation. The established motion error model of the tower crane not only provides theoretical basis for the optimal design for each operation mechanism of the tower crane, but also points out the direction of future control on the motion error of the tower crane. |
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| Keywords: | tower crane homogeneous coordinate transformation composite error modeling |
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