并联机器人位姿误差分析

Study on pose errors analysis of parallel robot

利用并联机器人的运动学反解模型 ,通过误差传递矩阵的求解来探讨机器人主要误差源与其位姿误差之间的关系 ,建立了并联机器人的位姿误差模型 .并讨论了并联机器人主要误差源对位姿精度的影响 。

Using the inverse kinematic model of the parallel robot, the relationship between main error resources of parallel robot and its pose errors was discussed, and error model of parallel robot is set up in this paper through error transfer matrix. The influence of the main error resources on the pose accuracy was discussed, which base compensation and control theory of error in practice.