| 专用工业机器人关节位置姿态的综合和误差分析 |
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| 引用本文： | 熊有伦,刘恩沧,朱启逑. 专用工业机器人关节位置姿态的综合和误差分析[J]. 华中科技大学学报(自然科学版), 1988, 0(Z1) |
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| 作者姓名： | 熊有伦 刘恩沧 朱启逑 |
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| 作者单位： | 华中理工大学机械工程一系(熊有伦，刘恩沧)，华中理工大学机械工程一系(朱启逑) |
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| 摘 要： | 本文讨论专用工业机器人(自由度不足6个)的关节综合,特别是偏置轴线的回转关节位姿的综合问题。为了得到唯一解,所给条件应满足相容性、完备性,还要注意独立性。机器人的位置姿态误差由初始误差、结构误差和位移误差三部分组成,三者相互叠加相互抵消,按其规律寻求相应的调整方案和补偿方法。本文给出全补偿条件和最佳补偿公式。
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| 关 键 词： | 工业机器人 关节综合 误差补偿 |
Joint Synthesis and Error Analysis of Industrial Robot for Special Purposes |
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| Xiong Youlun Liu Encang Zhu Qiqiu. Joint Synthesis and Error Analysis of Industrial Robot for Special Purposes[J]. JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE, 1988, 0(Z1) |
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| Authors: | Xiong Youlun Liu Encang Zhu Qiqiu |
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| Affiliation: | Xiong Youlun Liu Encang Zhu Qiqiu |
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| Abstract: | This paper is concerned with the joint synthesis and error analysis of mechanical arms with deficient degrees of freedom, especially for the case of the revolving joint with offset axis. In order to obtain a unique solution, the consistency, independence and completeness under given conditions are discussed. The position and orientation errors, including the initial error, the structural error and the displacement error are treated. These errors can be superposed or compensated with one another. The conditions for complete compensation and the expression for optimum compensation as well as their applications in the design and assembly of robots are given. |
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| Keywords: | Industrial robot Joint synthesis Error compensation. |
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