摘要
建立了3 PRS型三足并联机器人模型,应用软件MATLAB,对三足并联机器人杆长误差引起的动平台位置误差进行了详细分析,给出了误差计算和分析的具体示例,画出了误差走势图,得出了误差分析方面的一些重要结论。分析方法简易可行,分析精度高,可供其它类型机器人误差分析时参考。
The paper builds a model of a 3-PRS Tripod, and applies the software MATLAB to analyze position error of tripods' moving platform resulted from length error of sliding leg.At the same time,it gives a demonstration of error computation and analysis, and a drawing of error tendency graphs, finally some important conclusions in the field of error analysis are presented.The analysis method is simple, feasible and highly precise. It also may be referred to other robots analysis.
出处
《机械制造与自动化》
2005年第2期26-28,共3页
Machine Building & Automation
