论文部分内容阅读
利用D-H参数法构造参数误差与末端位姿误差的映射关系,建立相应的精度分析概率模型;在此基础上通过计算机仿真对设定零件加工精度等级后的末端位姿进行精度预估和灵敏度分析。为合理确定各零部件的尺寸公差和制订合理加工装配工艺提供了理论依据。
Using DH parameter method to construct the mapping relationship between the parameter error and the end pose error, and establish the corresponding probability analysis model of accuracy; on the basis of this, through the computer simulation, the precision and sensitivity analysis of the end pose after setting the machining accuracy grade . In order to rationally determine the size of the various parts tolerance and to formulate a reasonable processing and assembly technology provides a theoretical basis.