摘要
采用Denavit-Hartenberg方法设定五自由度串联机器人杆件坐标系,通过齐次变换矩阵建立串联机器人正运动学和逆运动学模型。在此基础上,对由静态误差引起的串联机器人末端位姿误差做了分析。利用微小位移合成法建立了串联机器人的静态位姿误差分析模型,以机构可靠度为位姿精度评价指标,应用Monte Carlo数值仿真法分析串联机器人各连杆参数误差对串联机器人的静态位姿精度的影响程度,并分析得出对串联机器人的静态位姿精度影响最大的关节。
Link coordinates of the five degree of freedom（ 5-DOF） serial robot were set up by Denavit-Hartenberg method,and forward and inverse kinematic model of serial robot was established through homogeneous transformation matrix. Based on this,the pose error of the end of serial robot resulting from static errors was analyzed. The static pose error analytic model of the serial robot was developed by using small displacement composing method. By considered mechanism reliability as the evaluation guidelines of pose precision,the influence of errors of links parameters on static pose precision of the robot was analyzed,by using Monte Carlo numerical simulation method. Finally the joint is obtained by analyzing,which is the greatest impacted on the static pose precision.
出处
《机床与液压》
北大核心
2015年第9期63-66,共4页
Machine Tool & Hydraulics
