微操作并联机器人几何误差建模的参数误差转换法及误差敏感性分析

›› 2005, Vol. 41 ›› Issue (10): 39-43.

微操作并联机器人几何误差建模的参数误差转换法及误差敏感性分析

张建军;王晓慧;高峰;李为民

河北工业大学并联机器人研究中心;上海交通大学机械工程与动力学院

发布日期:2005-10-15

PARAMETERS ERROR TRANSFORMATION METHOD TO CONSTRUCTING GEOMETRY ERROR MODELS AND ERROR SENSITIVITY FOR PARALLEL MICRO-MANIPULATORS

Zhang Jianjun;Wang Xiaohui;Gao Feng;Li Weimin

Parallel Robot Research Center, Hebei University of Technology School of Mechanical Engineering, Shanghai Jiaotong University

Published:2005-10-15

摘要/Abstract

摘要： 提出微操作并联机器人几何误差建模的参数误差转化法，建立正交结构6-PSS微操作并联机器人的几何误差模型，通过构造几何误差模型的Lagrange条件极值方程，对误差进行敏感性分析，最后讨论了各类参数误差在终端几何误差模型中的关联性。研究表明：所提出的方法简单明了，行之有效。

关键词: 参数误差转化法, 几何误差模型, 微操作并联机器人, 误差敏感性

Abstract: Parameters error transformation method to constructing geome-try error models for parallel micro-manipulators is proposed, and a geometry error model of 6-PSS parallel mi-cro-manipulator with vertical structure is built. Constructing Lagrange conditional extremum equation of its geometry error model, its error sensitivity is analyzed. Finally, the relationship between all kinds of parameter error in the geometry error model is discussed. It is concluded that the former method is simple and effective.

Key words: Error sensitivity, Geometry error model, Parallel micro-manipulator, Parameters error transformation method

中图分类号:

TH112

张建军;王晓慧;高峰;李为民. 微操作并联机器人几何误差建模的参数误差转换法及误差敏感性分析[J]. , 2005, 41(10): 39-43.

Zhang Jianjun;Wang Xiaohui;Gao Feng;Li Weimin. PARAMETERS ERROR TRANSFORMATION METHOD TO CONSTRUCTING GEOMETRY ERROR MODELS AND ERROR SENSITIVITY FOR PARALLEL MICRO-MANIPULATORS[J]. , 2005, 41(10): 39-43.