|
|||||
|
|
| 三平移并联机器人坐标测量机精度研究 | |
| 引用本文： | 徐卫,马履中,郭宗和,马晓丽.三平移并联机器人坐标测量机精度研究[J].农业机械学报,2006,37(5):122-124,121. |
| 作者姓名： | 徐卫 马履中 郭宗和 马晓丽 |
| 作者单位： | 1. 江苏大学智能机械及机器人研究所 2. 山东理工大学科技处 3. 衢州学院机电控制系 |
| 基金项目： | 中国科学院资助项目;广东省博士启动基金;浙江省自然科学基金 |
| 摘 要： | 提出一种三平移并联机器人坐标测量机的设计方法。根据机构型的解耦性与控制和误差软件补偿的关系，选择非对称型三平移弱耦合并联机构用于坐标测量机，分析了该机构位置的正反解，建立了误差模型。由于该机型具有弱耦合特性，使得用软件补偿精度的方法变得方便可行。研究了影响该坐标测量机精度的机构因素．探讨了运动学参数软件逐步标定的方法。 |
| 关 键 词： | 并联机构 坐标测量机 精度 标定 |
| 收稿时间： | 01 21 2005 12:00AM |
| 修稿时间： | 2005-01-21 |
Research of Precision on CMM of 3-DOF Translational Parallel Robot |
|
| Xu Wei,Ma Lüzhong,Guo Zonghe,Ma Xiaoli.Research of Precision on CMM of 3-DOF Translational Parallel Robot[J].Transactions of the Chinese Society of Agricultural Machinery,2006,37(5):122-124,121. | |
| Authors: | Xu Wei Ma Lüzhong Guo Zonghe Ma Xiaoli |
| Institution: | 1.Jiangsu University 2.Shandong University of Technology 3.Quzhou College |
| Abstract: | A design method of CMM of 3 DOF translational parallel robot was presented. According to the decoupling of type synthesis of mechanism and the relationship between control and error software compensation, the unsymmetrical 3-DOF translational weakly-coupled parallel mechanism for CMM was selected, the positive and negative solutions of mechanism position an error model were analyzed. Due to the weakly-coupled property, it is easy to use software to compensate precision. Then the mechanism factors that affect the CMM was studied and the method of stepwise demarcating for the software of kinematics was discussed. |
| Keywords: | Parallel mechanisms Coordinate-measuring machine Precision Demarcating |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |