| Stewart机器人的位姿误差分析 |
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| 引用本文： | 华为实. Stewart机器人的位姿误差分析[J]. 四川理工学院学报(自然科学版), 1995, 0(3) |
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| 作者姓名： | 华为实 |
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| 作者单位： | 四川轻化工学院电子工程系 |
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| 摘 要： | 本文提出了一种分析Ｓｔｅｗａｒｔ机器人位姿误差的方法，即将各个关节引入的误差以及伺服定位误差对位姿误差的影响，都归算为杆件长度误差引起的位姿误差，并给出了按杆件长度误差计算位姿误差的关系式。
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| 关 键 词： | Stewart机器人；位姿；误差；关节 |
AN ANALYSIS OF POSE ERRORS OF STEWART PLATFORM |
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| Hua Weishi. AN ANALYSIS OF POSE ERRORS OF STEWART PLATFORM[J]. Journal of Sichuan University of Science & Engineering(Natural Science Editton), 1995, 0(3) |
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| Authors: | Hua Weishi |
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| Affiliation: | Dept. of Electron. Eng. Sichuan Institute of Light Ind. & Chem.Tech. Zigong 643033 |
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| Abstract: | An analysis of pose errors of moving platform of Stewart platform is presened in the paper. In the analysis the pose errors caused by joint errors and servo positioning errors are considered to be equivalent to those caused by link length errors. The calculating formulas of the pose errors caused by link length errors are derived. |
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| Keywords: | Stewart platform pose error joint |
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