CAJ | 학술논문

搬运机械手的位姿误差直接影响其工作性能.首先分析其误差影响因子,然后利用旋量法对搬运机械手末端执行器的位姿误差进行建模,计算出指数积公式,再结合其实际情况,带入各个结构参数和运动参数,设计误差参数,后面三个关节的误差参数设计相同,从而比较末端各个误差的大小和影响,结果显示搬运机械手在不同工作空间其误差影响不同且不同关节对末端精度影响程度不同.综合得出关节2对误差影响较大,关节4直接影响姿态误差,关节3对z位置误差影响较大,关节1对y位置误差影响较大.
반운궤계수적위자오차직접영향기공작성능.수선분석기오차영향인자,연후이용선량법대반운궤계수말단집행기적위자오차진행건모,계산출지수적공식,재결합기실제정황,대입각개결구삼수화운동삼수,설계오차삼수,후면삼개관절적오차삼수설계상동,종이비교말단각개오차적대소화영향,결과현시반운궤계수재불동공작공간기오차영향불동차불동관절대말단정도영향정도불동.종합득출관절2대오차영향교대,관절4직접영향자태오차,관절3대z위치오차영향교대,관절1대y위치오차영향교대.
The posture error of carrying manipulator directly influences its working performance.Firstly,an-alyze the error influence factors and then using the method of screw to set the posture error modeling of end executor for carrying manipulator,calculating the exponential product formula,and combined with its actual situation,taking into the structure and kinematic parameters,and design error parameter,the error of the three joint parameter design is the same,so as to compare each error at the end of the size and influence,the results show that the carrying manipulator end error affect different works in different space and the influence degree is different from different precision and different joint.Integrated,joint 2 has large influence of er-ror,joint 4 directly affect the attitude error,the z position error effected by joint 3 is bigger,the joint 1 has larger influence on y position error.