| 模块化柔性臂空间机器人运动误差分析 |
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| 引用本文： | 谭月胜,孙汉旭,肖爱平,叶平,张秋豪,魏秋霜.模块化柔性臂空间机器人运动误差分析[J].机械设计,2004,21(9):14-16. |
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| 作者姓名： | 谭月胜 孙汉旭 肖爱平 叶平 张秋豪 魏秋霜 |
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| 作者单位： | 1. 北京航空航天大学,机械工程及自动化学院,北京,100083
2. 北京邮电大学,自动化学院,北京,100876 |
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| 基金项目： | 国家高技术研究发展计划 863计划 (2 0 0 2AA742 0 30 ) |
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| 摘 要： | 建立了一种模块化柔性臂机器人的综合误差分析模型，首次将以传递运动为主的减速器所产生的运动误差及因柔性臂弹性变形而产生的误差有机融合在一起。讨论了减小误差、提高机器人末端定位精度的方法。
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| 关 键 词： | 运动误差 误差补偿 柔性机械臂 谐波齿轮 |
| 文章编号： | 1001-2354(2004)09-0014-03 |
Kinematical error analysis of modularized flexible-arm space robot |
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| TAN Yue-sheng,SUN Han-xu,XIAO Ai-ping,YE Ping,ZHANG Qiu-hao,WEI Qiu-shuang.Kinematical error analysis of modularized flexible-arm space robot[J].Journal of Machine Design,2004,21(9):14-16. |
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| Authors: | TAN Yue-sheng SUN Han-xu XIAO Ai-ping YE Ping ZHANG Qiu-hao WEI Qiu-shuang |
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| Affiliation: | TAN Yue-sheng~1,SUN Han-xu~2,XIAO Ai-ping~2,YE Ping~1,ZHANG Qiu-hao~2,WEI Qiu-shuang~2 |
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| Abstract: | A kind of comprehensive error analysis model of modularized flexible-arm robot was established. It merges together organically the kinematic errors caused by reducer for transmitting mainly the motion and that caused by elastic deformation of flexible-arm for the first time. The methods of reducing error and enhancing positioning accuracy of robot's extremity were discussed. |
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| Keywords: | kinematic error error compensation mechanical flexible-arm harmonic gear |
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