点位机器人运动学及误差分析

Kinematics and Inaccuracy Analysis of a Point-to-point Robot

针对点位作业的工作特点,设计了一种能自主移动的点位作业机器人,给出了其运动学模型,并进行了运动误差分析,从而确定了评定误差函数.分析表明该机器人具有定位精度高、效率高等优点.

Aiming at solving operating characteristic of point - to - point operation, this paper develops a new design of point- to-point robot which can realize robot＇s auto movement. A kinematical model of the robot has been established. Kinematic error analysis has been done. It is indicated that the robot can realize high accuracy locate function in point - to - point condition.