摘要
提出了采用D-H法对3-P4R并联打磨机器人进行位置分析,通过对反解方程进行微分,建立原始误差存在于三条支链的误差模型,然后采用Matlab进行数值仿真的新思想,该算法的可行性已被初步的试验证实。主要是对三条支链的杆长误差进行分析,为后续的误差补偿奠定理论基础。
An idea of the position analysis for 3-P4R parallel barinder robot was studied,the inverse positon equations were differentiated,and the original error model on the three chains was established,then numerical simulation was studied by Matlab was proposed for the first time,and the feasibility of the method was demonstrated by some preliminary tests.The length error of link of the three chains is mainly studied,which provides material for error compensation.
出处
《中国民航大学学报》
CAS
2012年第2期21-23,共3页
Journal of Civil Aviation University of China
