五自由度手术框架机构精度的研究

Research of Frame's Precision about Five-freedom Surgical Framework

为了简便地计算五自由度手术框架的精度,基于无限小线性变换原理,推导出相对简单的精度计算方法,相对于通过求矩阵微分的关系和解雅可比矩阵来求解机器人精度分析的传统方法,该方法更简便、通用。

In this paper,to compute five- freedom surgical framework＇s precision simply,a relative simple method, which based on the principle of infinitesimal linear transform, of precision＇s computing will be deduced. Compared with the traditional method, which through acquiring the relation of matricidal differential and Jacobian matrix to analysis the precision error of robot,this method is more simple and more general.