一种机器人球腕的静态误差分析方法

A kind of static error analysis method for spherical-wrist of robot

许多机器人的共同特点是在操作臂末端安装了球腕。如果球腕的结构参数误差与各关节的运动变量误差比较大,则应用现有的方法求取末端执行器的位姿误差会产生较大的偏差。以机器人末端的球腕为研究对象,提出了一种用相对位姿误差表示球腕的静态误差分析方法。应用这种方法可以得出球腕末端执行器位姿误差的精确解,并对球腕的质量进行评价。

The common characteristic of many robots was a spherical-wrist mounted at the end of manipulator. If the error of structural parameters of the spherical-wrist and the error of movement variables of every joint were comparatively big, there will produce rather big deviation in searching the posture error of end executor by the use of existed method. Taking the spherical-wrist of robot＇s end as the target of study, a kind of static error analysis method of spherical-wrist expressed by relative posture errors has been put forward. By applying this kind of method it is possible to obtain the accurate solutions for the posture errors of executor mounted at the end of spherical-wrist and to carry out evaluations on the quality of spherical-wrist.