基于广义几何误差模型的微机器人精度分析

为描述各种误差源对机器人本体产生的影响 ,提出了一个用于微机器人精度分析的通用方法。通过任意两坐标系间的向后微分关系 ,利用运动学方程以及并联机构的环路特性 ,建立了微机器人的广义几何误差模型。利用此模型 ,可以对微机器人进行精度评估和误差修正。该方法可推广应用到一般并联机器人的误差建模和精度分析

Accuracy analysis of micro motion robot based on generalized geometric error model

A general method was proposed for accuracy analysis of parallel micro motion robot. The method represents the effects of all possible error sources on robotic mechanisms as generalized geometric errors in a unified manner. Based on the back differential relationship between any two coordinate frames, the generalized geometric error model could be established from the kinematics equations and the loop property of parallel structure. The model could be used to evaluate the accuracy and correct error. A simulation of the accuracy analysis of parallel micro robots demonstrates the effectiveness of the model. The method also could be employed to handle error modeling and analysis of any general parallel robot.