摘要
在获得 6-PSS并联机构位置反解的基础上 ,考虑杆长、铰链位置、铰链间隙等各类主要误差源对终端误差的影响 ,推导出此新型机构的位姿误差模型 ,且应用蒙特卡洛技术分析了位姿误差的分布规律 ,为这种机器人的理论设计与精度补偿提供了理论基础。
On the basis of obtaining positional inverse solution of 6-PSS parallel mechanism and by considering the influence of end errors affected by all kinds of main error resources such as rod length, hinge position, hinge clearance etc., the positional posture error model of this novel mechanism was derived. The distribution law of positional posture error was analyzed by applying the Monte-Carlo technique, thus provided theoretical basis for the theoretic design and precision compensation of this kind of robot.
出处
《机械设计》
CSCD
北大核心
2004年第10期18-20,共3页
Journal of Machine Design
基金
国家"8 63"计划资助项目 (2 0 0 1AA42 1 2 80 )
