基于旋量法的搬运机械手位姿误差分析  

Carrying Manipulator Posture Error Analysis Based on the Screw Method

作　　者：李蕾[1] 陈广锋[1] 韩志远[1] 

机构地区：[1]东华大学纺织装备教育部工程研究中心,上海201620

出　　处：《组合机床与自动化加工技术》2015年第10期116-118,123,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：中央高校基本科研业务费专项资金资助(12D10309;13D110317);国家自然科学基金(51375084)

摘　　要：搬运机械手的位姿误差直接影响其工作性能。首先分析其误差影响因子,然后利用旋量法对搬运机械手末端执行器的位姿误差进行建模,计算出指数积公式,再结合其实际情况,带入各个结构参数和运动参数,设计误差参数,后面三个关节的误差参数设计相同,从而比较末端各个误差的大小和影响,结果显示搬运机械手在不同工作空间其误差影响不同且不同关节对末端精度影响程度不同。综合得出关节2对误差影响较大,关节4直接影响姿态误差,关节3对z位置误差影响较大,关节1对y位置误差影响较大。The posture error of carrying manipulator directly influences its working performance. Firstly,analyze the error influence factors and then using the method of screwto set the posture error modeling of end executor for carrying manipulator,calculating the exponential product formula,and combined with its actual situation,taking into the structure and kinematic parameters,and design error parameter,the error of the three joint parameter design is the same,so as to compare each error at the end of the size and influence,the results showthat the carrying manipulator end error affect different works in different space and the influence degree is different from different precision and different joint. Integrated,joint 2 has large influence of error,joint 4 directly affect the attitude error,the z position error effected by joint 3 is bigger,the joint 1 has larger influence on y position error.

关 键 词：机械手 旋量法 位姿误差 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]