基于D-H(Denavit-Hartenberg)参数运动学模型,根据斜交非球型3R手腕的结构特征和工作原理,建立了该手腕的全参数误差辨识模型,并进行了计算机仿真。仿真结果表明:全参数误差辨识模型的辨识精度可达到3.780 42×10-4mm,完全能够满足喷涂机器人的工作精度要求,证明全参数误差辨识模型的正确性。 Based on the D-H (Denavit-Hartenberg) parameter kinematics model, the full-parameter error identification model of the wrist is established and the computer simulation is carried out according to the structural features and working principle of the skewed aspherical 3R wrist. The simulation results show that the identification accuracy of full parameter error identification model can reach 3.780 42 × 10-4mm, which can fully meet the working precision requirements of spraying robots and prove the correctness of the error parameter identification model.