新型4自由度并联机器人位姿误差分析

将一种新型四自由度并联机器人等效为由串联机构构成的空间闭环机构 ,运用 Denavit- Hartenberg方法提出了运动平台位姿误差的一种分析算法。利用这个算法可以分析各种构件加工、安装误差对运动平台位姿精度的影响。进行了数值仿真验证了算法的正确性。最后分析出对位姿精度影响较大的因素 ,通过重视这些因素可提高实际机构的操作精度

A new 4-DOF parallel robot was converted to spat ial closed loop that was composed of four series mechanisms, and then its error  model was constructed by Denavit-Hartenberg method. In the algorithm,the effect s of manufacturing tolerances and installation errors on the platform accuracy w ere evaluated. The simulation studies were carried out to verify the algorithm's  validity. Finally, the major factors contributing to platform inaccuracy were s tudied. By correcting these factors, accuracy is greatly improved.

中国科学院机器人学开放实验室基金资助 ( RL19970 5 )