摘要
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。
The analysis method of the random error of position and orientationof the parallel robot arm is presented. The transmission matrices oferrors by using the influence coefficients are in unified forms. Therange of the error of the position and orientation of the hand isobtained using the probability.
关键词
并联式机器人
位姿误差
传递函数
Parallel robot manipulator
error of position and orientation
transmission function
