三自由度机械手测量臂的应用实例与精度分析  

Application example and accuracy analysis of manipulator measuring arm with three freedom degrees

作　　者：郭市委[1] 刘海涛[1] 周敏[1] 凌颖[1] 

机构地区：[1]安阳钢铁股份有限公司,河南安阳455004

出　　处：《冶金标准化与质量》2006年第4期53-55,共3页Metallurgical Standardization & Quality

摘　　要：三自由度测量臂的测量对象为沿X、Y、Z三个坐标轴的平动,即仅对运动部件进行位置跟踪与测量。测量臂是通过安装在各关节上的传感器来测量各关节的相对运动,从而间接实现对末端执行器的位置测量。因此,该问题属于机器人运动学的正问题。The measured object of the three degree- of-freedom measurement mechanism is moving along X, Y, Z three coordinate axis. That is only to trace and measure the position of the motion part. The measurement mechanism measures the relative motion of each joint through the sensor installing on each joint. So the position measurement of the end execute cell can be realized indirectly. Therefore, the problem would be a normal problem of the robot kinematics.

关 键 词：测量 自由度 位姿 并联机床 传感器 信号 精度 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]