Stewart机器人的位姿误差分析

AN ANALYSIS OF POSE ERRORS OF STEWART PLATFORM

本文提出了一种分析Ｓｔｅｗａｒｔ机器人位姿误差的方法，即将各个关节引入的误差以及伺服定位误差对位姿误差的影响，都归算为杆件长度误差引起的位姿误差，并给出了按杆件长度误差计算位姿误差的关系式。

An analysis of pose errors of moving platform of Stewart platform is presened in the paper. In the analysis the pose errors caused by joint errors and servo positioning errors are considered to be equivalent to those caused by link length errors. The calculating formulas of the pose errors caused by link length errors are derived.