摘要
提出微操作并联机器人几何误差建模的参数误差转化法,建立正交结构6-PSS微操作并联机器人的几何误差模型,通过构造几何误差模型的Lagrange条件极值方程,对误差进行敏感性分析,最后讨论了各类参数误差在终端几何误差模型中的关联性。研究表明:所提出的方法简单明了,行之有效。
Parameters error transformation method to constructing geometry error models for parallel micro-manipulators is proposed, and a geometry error model of 6-PSS parallel micro-manipulator with vertical structure is built. Constructing Lagrange conditional extremum equation of its geometry error model, its error sensitivity is analyzed. Finally, the relationship between all kinds of parameter error in the geometry error model is discussed. It is concluded that the former method is simple and effective.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2005年第10期39-43,共5页
Journal of Mechanical Engineering
基金
国家杰出青年基金(50125516)天津市科技发展计划(043801811)资助项目。
关键词
微操作并联机器人
几何误差模型
误差敏感性
参数误差转化法
Parallel micro-manipulator
Geometry error model
Error sensitivity
Parameters error transformation method
