| 机器人及空间机构运动精度的研究 |
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| 引用本文： | 张新辉,马培荪.机器人及空间机构运动精度的研究[J].上海交通大学学报,1991,25(1):29-39. |
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| 作者姓名： | 张新辉 马培荪 |
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| 作者单位： | 上海交通大学机械工程系 原交大研究生(张新辉)，上海交通大学机械工程系 现在华东化工学院机械工程系.(马培荪) |
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| 摘 要： | 本文介绍一种研究机器人及一般空间机构运动精度的建模新方法.首先,按D-H(DENAVIT-HARTENBERG)动坐标系的建立条件,论述了理想机构的各D-H 动坐标系在实际机构中相应动坐标的位姿偏差及其修正关系.据此,利用D-H 坐标变换与空间矢量的关系,以及空间矢量导数性质,推导了简洁实用、意义明确的机器人运动误差矢量方程,并就该方程在一般空间机构运动精度研究时的应用实例作了说明.
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| 关 键 词： | 机器人 空间机构 运动精度 矢量法 |
A Research on Kinematic Accuracy for Industrial Robots and Space Mechanism |
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| Zhang Xinghui Ma Peisun.A Research on Kinematic Accuracy for Industrial Robots and Space Mechanism[J].Journal of Shanghai Jiaotong University,1991,25(1):29-39. |
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| Authors: | Zhang Xinghui Ma Peisun |
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| Institution: | Zhang Xinghui Ma Peisun |
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| Abstract: | The paper presents a new method for kinematic accuracy modell-ing in the study of robots and general space mechanism.First,under thecondition of the D-H(Denavit-Hartenberg)movable coodinate system,itdescribes the pose derivation between the ideal mechanism and the real oneand the revised transforming relation between them.Based on the discussion,a simple and clearly defined vector equation of kinematic error for robots,has been derived for practical use by means of space vector,characteristicsof space vector derivation and the transforming relation of the D-H coordinatesystem.A practical application of the error vector equation in the kinematicaccuracy study of the general space mechanism has been demonstrated in de-tail as an example. |
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| Keywords: | industrial robots mechanisms kinematic accuracy vector method |
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