摘要
采用D-H法对3-P4R并联打磨机器人进行了位置分析,通过对位置反解方程进行微分,建立了原始误差存在于3条支链的误差模型,然后采用Matlab进行了数值仿真,验证了该算法可进行误差分析。运用独立误差作用原理和等效误差作用原理对误差进行综合和分配,为后续的误差补偿奠定理论基础。
The position analysis for 3 - P4R parallel barinder robot is studied, the inverse position equations dif- ferential are carried out, and the original error model on the three chains is established. Then numerical simulation is studied by using Matlab, and the probably of the method for error analysis is proved. The independent and equal effect principle of error is applied to the error synthesis and distribution of a 3 - P4R parallel barinder, which provides mate- rial for error compensation.
出处
《机械传动》
CSCD
北大核心
2012年第3期21-24,共4页
Journal of Mechanical Transmission
