摘要
为了研究主从式机械手从手伸缩臂的末端定位误差。首先在伸缩臂无传动系统状态下情况,根据伸缩臂实际结构,得到各管因间隙产生的末端偏差;其次考虑中管在梯形丝杠传动运动情况,建立基于梯形丝杠进给系统的力学模型,并通过对其进行求解,与无传动系统状态下中管产生的偏转角度进行对比分析,得到中管运动稳定时的偏移角度情况。结合中管、内管偏移角度曲线,得到伸缩臂运动任何工作位置的末端定位误差。该结果分析对主从式机械手从手伸缩臂在运动过程中对末端定位误差的理论研究有实际意义。
In order to study the end of position error of telescopic boom for Master-slave manipulator’s slave arm,Firstly,under the circumstance that the telescopic boom without transmission system,the end of deviation of pipes which due to gaps are obtained according to the practical structure.Then,considering transmission movement of middle pipe in trapezoidal screw,the mechanics model is established base on trapezoidal screw feeding system.The actual deviation angle of middle pipe is obtained by contrasting the analysis of the results of trapezoidal screw feeding system with that without transmission system.Finally,the end of position error which telescopic boom movement to work in any position is obtained by combining the deviation angle of middle pipe with that of inner pipe.The results have practical significance for the the research of position error of telescopic boom for Master-slave manipulator’s slave arm.
作者
丁彩红
赖勇
DING Cai-hong;LAI Yong(College of Mechanical Engineering,DongHua University,Shanghai 201620,China)
出处
《机械设计与制造》
北大核心
2018年第4期245-248,共4页
Machinery Design & Manufacture
关键词
主从式机械手
伸缩臂
间隙
梯形丝杠
定位误差
Master-Slave Manipulator
Telescopic Boom
Gap
Trapezoidal Screw
Position Error
