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| 装配机械手综合误差分析与误差元素建模研究 |
| Research on Comprehensive Error Analysis and Error Term Modeling of Assembling Manipulator |
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| DOI：10.3969/j.issn.1671-5322.2013.02.002 |
| 中文关键词: 装配机械手 误差分析 误差元素 建模 仿真 |
| 英文关键词: assembling manipulator error analysis error term model simulation |
| 基金项目: |
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| 中文摘要: |
| 以矩阵变换为基础,分析装配机械手的综合误差,导出末端误差表达式,得出末端误差与各关节误差源之间的关系,采用回归分析方法建立误差元素的模型.实测误差数据建模曲线与软件仿真误差元素模型曲线对比表明,采用该方法所建模型曲线更接近实际. |
| 英文摘要: |
| Based on matrix transform,comprehensive error of assembling manipulator was analyzed,terminal error formula was derived,and the relationship between terminal error and every error source of each joint was obtained.The model of each of the error sources was established through regression analysis.By experiment,error curve with actual measurement dada based on regression analysis is superior to the error curve calculated by the simulation software. |
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