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针对机械臂重复运动精度差的特点,对导致机械臂运动误差的主要影响因素进行分析。基于D-H坐标系的相关理论建立位置误差模型,对机械臂关节之间的位置误差进行分析。根据D-H参数位置误差,提出误差补偿方案,提高机械臂的运动精度。采用ADAMS软件建立三关节机械臂的动力学模型,通过对各关节的运动特性的分析,讨论在不同外界条件下各关节驱动器的力矩曲线和各关节运动关系曲线的变化,为更深入研究机械臂运动学和动力学问题,以及串联关节机械臂的本体和控制器设计提供了理论依据。
Aiming at the poor repetitive motion of manipulator, the main influencing factors of manipulator error were analyzed. Based on the related theory of D-H coordinate system, a position error model is established to analyze the position error between manipulator joints. According to the position error of D-H parameters, the error compensation scheme is proposed to improve the accuracy of the robot arm movement. The dynamics model of three-joint manipulator was established by ADAMS software. Through the analysis of the kinematic characteristics of each joint, the changes of moment curve and articulation curve of each joint driver under different external conditions were discussed. Kinematics and dynamics problems, as well as the serial joint manipulator body and controller design provides a theoretical basis.