基于广义几何误差模型的微机器人精度分析

ACCURACY ANALYSIS OF MICRO MOTION ROBOT BASED ON GENERALIZED GEOMETRIC ERROR MODEL

提出了一个用于微机器人精度分析的通用方法，该方法以广义几何误差的形式描述各种误差源对机器人本体产生的影响，通过任两坐标系间的向后微分关系，利用运动学方程以及并联机构的环路特性，建立了微机器人的广义几何误差模型。基于此模型，对工作空间中的位姿误差进行了仿真分析，验证了该法的有效性。此方法虽然是针对微机器人，但可推广应用到一般并联机器人的误差建模和精度分析。

A general method is proposed for accuracy analysis of parallel micro robot.The method represents the effects of all possible error sources on robotic mechanism s as generalized geometric errors in a unified manner.Based on the back differe ntial relationship between any two coordinate frames,the generalized geometric e rror model is established from the kinematics equations and the loop property of parallel structure.The model can be used to evaluate the accuracy and error co rrection.Asimulation of the accuracy analysis of parallel micro robots demonstr ates the effectiveness of the model.Although the method is used for the analysi s of micro motion robots,it can also be employed to handle error modeling and an alysis of any general parallel robot