摘要
本文以AdeptOne高性能装配机器人为例，提出了装配机器人机构的准确度及零位精度的计算方法，阐明了机构转化，误差源分析，局部原始误差计算及机构误差综合的方法，并从精度分析的角度提出装配机器人机构设计中应重视的因素。
The Paper presents a method for calculating the exactitude and the origin accuracy of origanisation of the robot for assembly, by example with AdeptOne -a robot for assembly with high performance. It explains a method for converting orgarnisation 、analyzing error source、calculating partial origin error and synthesizing organisation error. From the point of accuracy analysis, the factors we should pay attention to in the orgnisation design of a robot for assembly are also presented.
出处
《杭州电子科技大学学报（自然科学版）》
1997年第1期55-61,共7页
Journal of Hangzhou Dianzi University：Natural Sciences
关键词
精度分析
机构转化
误差源分析
accuracy analysis
organisation conversion
analysis of error source
