点S平面运动机械手的位置精度可靠度  

Position precision and dependability of prosthetic manipulator with point Sdoing plane movement

作　　者：关鹏伟[1] 

机构地区：[1]济南大学机电学院,济南250022

出　　处：《天津理工学院学报》2003年第2期72-76,共5页Journal of Tianjin Institute of Technology

摘　　要：为开发大臂回转中心在原点,手部(简化为点S)做平面运动且有位置精度可靠度要求的关节式机器人时实控制系统,用矢量算法取代D H矩阵变换导出了该机器人位置和关节变量计算式,提出了位置精度可靠度概念,探讨了用概率设计方程解决其可靠性设计问题,用泰勒级数估计了有关函数离差系数,通过实例说明了该方法的应用.In order to open up the real time control system of intelligent robot with prosthetic manipulator when the rotatory center of the big arm on the orign and with its hand (this position is abbreviated as point S ) doing the plane movement motion and possessing the requirement of position precision and the dependability, the equation to calculate the position and joint variable of this robot area educed by replacing the DH matrix commutation by the vector operation, the concept of the position precision and the dependability are advanced, the method of the probability design is discussed by the dependability design equation ,and the coefficient of modified difference of concerned function is estimated by the taile progression the appalication of the method is shown in paradigm.

关 键 词：智能机器人 关节式机械手 手部 平面运动 位置精度 可靠度 可靠性设计 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]