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| 新型6自由度并联机器人误差补偿 | |
| 引用本文： | 卢菊洪,潘芳伟,贺利乐,王朋. 新型6自由度并联机器人误差补偿[J]. 机械设计, 2010, 27(1) |
| 作者姓名： | 卢菊洪 潘芳伟 贺利乐 王朋 |
| 作者单位： | 1. 丽水职业技术学院机电信息分院,浙江丽水,323000 2. 西安建筑科技大学机电工程学院,陕西西安,710055 3. 中冶东方工程技术有限公司包头钢铁设计研究总院,内蒙古包头,014010 |
| 摘 要： | 分析了新型6自由度并联机器人的位置误差和姿态误差。在误差概率分析与蒙特卡洛法的基础上,建立铰链间隙影响下的机器人实际误差模型。并在直接误差补偿法和工作空间补偿的基础上,结合并联机器人平台模型及误差模型提出一种适合该模型的误差补偿方法。该方法具有一定的普遍性。 |
| 关 键 词： | 并联机器人 误差补偿 位姿误差 |
Error compensation of a novel 6-DOF parallel robot |
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| LU Ju-bong,PAN Fang-wei,HE Li-le,WANG Peng. Error compensation of a novel 6-DOF parallel robot[J]. Journal of Machine Design, 2010, 27(1) | |
| Authors: | LU Ju-bong PAN Fang-wei HE Li-le WANG Peng |
| Affiliation: | LU Ju-hong1,PAN Fang-wei1,HE Li-le2,WANG Peng3 |
| Abstract: | The positional error and gesture error of a novel 6-DOF parallel robot were analyzed.On the basis of error probability analysis and of Monte Carlo method,the actual error model of robot under the influence of hinge clearance was established.Moreover on the basis of direct error compensation method and of working space compensation and combined with the platform model of parallel robot and the error model,a kind of error compensation method suitable for that model was put forward.That method possesses a cert... |
| Keywords: | parallel robot error compensation gesture error |
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