CAJ | 학술논문

分析了新型6自由度并联机器人的位置误差和姿态误差.在误差概率分析与蒙特卡洛法的基础上,建立铰链间隙影响下的机器人实际误差模型.并在直接误差补偿法和工作空间补偿的基础上,结合并联机器人平台模型及误差模型提出一种适合该模型的误差补偿方法.该方法具有一定的普遍性.
분석료신형6자유도병련궤기인적위치오차화자태오차.재오차개솔분석여몽특잡락법적기출상,건립교련간극영향하적궤기인실제오차모형.병재직접오차보상법화공작공간보상적기출상,결합병련궤기인평태모형급오차모형제출일충괄합해모형적오차보상방법.해방법구유일정적보편성.
The positional error and gesture error of a novel 6-DOF parallel robot were analyzed.On the basis of error probability analysis and of Monte Carlo method, the actual error model of robot under the influence of hinge clearance was established.Moreover on the basis of direct error compensation method and of working space compensation and combined with the platform model of parallel ro-bot and the error model, a kind of error compensation method suit-able for that model was put forward.That method possesses a cer-tain degree of universality.