四自由度串并联机器人的位姿误差分析  

Positional and Pose Error Analysis of 4-DOF Series-parallel Robot

作　　者：宁凤艳[1] 贠超[1] 

机构地区：[1]北京航空航天大学,北京100191

出　　处：《机床与液压》2010年第15期35-37,共3页Machine Tool & Hydraulics

摘　　要：介绍四自由度垂直移动关节与回转关节组合式串并联机器人的机构特点和机器人位姿误差分析的"小位移摄动法",利用该方法建立该构型机器人的位姿误差分析模型,通过仿真实验分析机器人广义坐标偏差和结构偏差对机器人末端位置误差的影响。仿真结果表明角度误差对机器人末端位置误差的影响较大,结构误差对机器人末端位姿误差的影响不大,证实该位姿误差模型的正确性,为机器人的位置误差补偿及精度优化设计提供参考。The characters of the 4-DOF series-parallel robot with two perpendicular moving joints and two rotational joints and the ＂small displacement perturbation method＂ of position and pose error analysis were introduced.By the method,the position and pose error model of this kind of robot was established,and the influences of its generalized coordinates deviation and structure deviation on ite end-effecter were analyzed by simulation experiments.The simulation results show that generalized coordinates deviation has obvious influence on the end position error,structure deviation has little influence on the end position error,and the feasibility of the position and pose error model is confirmed.It provides reference for robot position error compensation and accuracy optimum design.

关 键 词：串并联机器人 机构 摄动法 位姿误差 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]