斜交非球型3R手腕全参数误差辨识与仿真

Full parameter error identification model and simulation of oblique axis non-spherical 3R wrist

基于D-H(Denavit-Hartenberg)参数运动学模型,根据斜交非球型3R手腕的结构特征和工作原理,建立了该手腕的全参数误差辨识模型,并进行了计算机仿真。仿真结果表明:全参数误差辨识模型的辨识精度可达到3.780 42×10-4mm,完全能够满足喷涂机器人的工作精度要求,证明全参数误差辨识模型的正确性。

Based on the D-H parameter kinematic model, the structure characteristics and operating principle of the oblique axis non-spherical 3R wrist, a full parameter error identification model of this wrist was established, and computer simulation was also conducted. The simulation result shows that the attainable identification accuracy of the full parameter error identification model is 3. 78042× 10^-4 mm, meeting the accuracy requirement of painting robot completely. And the correctness of the full parameter error identification model is proved.