一种新型基于齿隙补偿方法的低价位机械手设计

A low-priced inspection manipulator based on a new backlash compensation principle

提出了一种基于新的齿隙补偿方法的廉价的检测机械手的设计方案,利用低精度廉价的减速器,根据实验齿隙误差数据,采用BP神经网络法建立相应回差数学模型,利用混合补偿技术使系统达到较高的精度。除此之外,本系统可用计算机实现从数据采集及模型建立到齿隙补偿的自动化操作,非常适用于实际工业生产的需要。

The paper presents an inspection manipulator design based on a new backlash hybrid compensation principle, utilizing comparatively low-priced gear reducer and BP neural network method to achieve a relatively high precision. Furthermore, the data collecting, model building and backlash compensation can be done by the computer automatically. The design greatly reduces the equipment costs with a little sacrifice of precision, thus having a wide market prospect.