柔性机器人指端误差敏感性  

The Endpoint Error Sensibility of Flexible Robot

作　　者：岳士岗[1] 余跃庆[1] 白师贤[1] 

机构地区：[1]北京工业大学基础科学部

出　　处：《北京工业大学学报》1996年第2期86-91,共6页Journal of Beijing University of Technology

基　　金：北京市科技新星计划国家教委留学回国人员基金

摘　　要：首先对同时具有关节弹性和杆件柔性的平面柔性机器人动力学微分方程组的解法作了叙述，然后对关节弹性的指端误差和杆件柔性的指端误差的敏感性进行了研究并得出了结论。The intergrade method for the dynamic differential equations of a planar flexible robot with elastic joints and flexible links is described in this paper. Also the effect of the endpoint errors,resulted from the transform of both the elastic joints and flexible links,upon the sensibility of the robot to the links geometrical parameters and endpoint mass is studied, and some conclusions are obtained.

关 键 词：柔性机器人 指端误差 敏感性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]