冗余驱动直角坐标串并联机器人位姿误差分析  

Posture error analysis on the Cartesian coordinates serial-parallel robot with redundant drive

作　　者：罗建国[1] 陆震[1] 

机构地区：[1]北京航空航天大学

出　　处：《机械设计》2007年第1期66-69,共4页Journal of Machine Design

摘　　要：串并联机器人可分解成两个并联机器人的串联组合,并联机器人的各支链均为一串联支链,利用并联机构和串联机构的运动学等效,考虑各分支末端误差对最终运动平台位姿误差的影响,提出了基于动态和静态因素的综合分析方法,并给出了主要的影响因素,并以实例的形式对研究结论进行了有效性验证。The serial-parallel robot can be resolved into the serial combination of two parallel robots. Each branch chain of the parallel robot is all a serial branch chain. By utilizing the kinematics equivalency and considering the influences on posture errors of the final moving platform affected by end errors of each branch, the synthetic analytical method based on dynamic and static factors was put forward. The main affection factor was presented and effectiveness verification has been carried out on the conclusion of study by the form of a living example.

关 键 词：串并联 冗余驱动 误差 影响因素 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]