摘要
介绍了一种用于计算虎克铰关节位姿偏差的数学评价方法。以虎克铰两端轴线夹角作为自变量,代入方向余弦矩阵,以方向余弦矩阵的摄动矩阵的谱范数作为评价指数,对虎克铰关节两端的位姿变化进行评价,从而获得评价效果,并借助MATLAB程序对评价指数的变化区间进行了演算。
A new evaluation method used for position/orientation offsets of the universal joints is developed here. The angle between inputting axle and outputting axle of the joints is defined to be independently variable, and is introduced into direction cosine matrix. The spectral norm of direction cosine matrix is made to be the evaluation value which is used for evaluating position/orientation offsets of the universal joints. The method is emulated by MATLAB and the varying range of the evaluation value is calculated.
出处
《军民两用技术与产品》
2011年第6期56-58,共3页
Dual Use Technologies & Products
关键词
虎克铰
位姿偏差
谱范数
方向余弦矩阵
Universal joint
Position/orientation offsets
Spectral norm
Direction cosine matrix
