摘要
通过矢量分析方法,分别讨论了3—PTT并联机构和两级3-PTT串并联微操作机器人机构的误差建模,研究了关节误差和驱动输入误差与机器人输出误差之间的关系,得到机器人机构的误差模型方程,为微操作机器人的误差补偿提供理论指导.
The vector analysis method is employed to discuss the error modeling of 3-PTT parallel connection mechanism and two series 3-PTT series and parallel micromanipulator mechanism, and respectivey study the relationships between the articulation errors and the manipulator output errors and between the actuation input errors and the manipulator output errors. Thus the errors model equation of manipulator mechanism is obtained, which provides the theoretical guidance for the error compensation of micromanipulator.
出处
《北京工业大学学报》
CAS
CSCD
北大核心
2002年第2期129-133,共5页
Journal of Beijing University of Technology
基金
国家自然科学基金资助项目(69885001).
关键词
并联机器人
误差分析
微操作
parallel connection manipulator
error analysis
micromanipulation
