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本文提出了并联式机器人操作器的随机位姿误差的分析方法。应用影响系数方法,使得含有114个原始误差参数的六自由度并联机器人操作器的位姿误差传递矩阵具有简单而统一的表达形式。文中还采用概率论方法给出了位姿误差的变动范围。
In this paper, a method of analyzing the random position and orientation errors of parallel robot manipulators is proposed. The influence coefficient method is applied to make the attitude and error transfer matrix of a six degree-of-freedom parallel robot manipulator with 114 original error parameters have a simple and uniform expression. The article also uses the probability theory method to give the variation range of pose error.