关节间隙对机器人末端执行器位姿误差的影响

Effect of Gap of Key Links on Location posture Errors for Tip Executing Apparatus of Robot

影响机器人末端执行器位姿的因素很多，其中关节间隙的影响历来为人们所关注．本文讨论了关节间隙对机器人末端执行器位姿误差的影响，推导出了由关节间隙引起的机器人末端执行器位姿误差的精确计算公式，且给出了算例．本文的工作为提高机器人的工作精度及有效地控制机器人，提供了理论依据．

Existing many factors of influence on location posture of tip executing apparatus for robot,the influence of gap of key links has received considerable attention for long time.In this paper,the effect of gap of key links on location posture errors for tip executing apparatus of robot is investigated and a precise calculating formula of the location posture errors occured by gap of key links is derived for tip executing apparatus of robot.And a numerical example is given.Thus,this paper provides a theoretical base for enhancing the work accuracy and effictive controling for robot.