黄家贤. 机构精度通用新算法的推导及应用举例[J]. 机器人, 1995, 17(6): 337-342..
HUANG Jiaxian. A GENERAL DERIVED METHED OF MECHANICAL ACCURACY AND ITS APPLIED EXAMPLES TO THE MECHANISM. ROBOT, 1995, 17(6): 337-342..
Abstract:In this paper,the principle of infinitesimal linear transform is used in deriving a general method for calculating the accuracy of mechanism. Using this method, the accuracy can be computed simply after making geometry analysis for the mechanism,establishing a coordinate system and determining the motional transform matrix and the error matrix. Thus it is unnecesary to establish input/output displacement equations.
[1] Портмаи В Т. Яиперсаишй Мето Точети Мехаиических Утройстп. Вестиик Машостроеиня 1981.(7)
[2] Портмаи В Т. испоиэоваиие Аппарта Бескоиечиомаицх дшеойицх Лреобраюваиий Аицитического асчета Точности Стаикои Маииоведецие,1980.(4)
[3] 黄家贤,黄寿荣等.机构精确度,西安电子科技大学出版社1994.
[4] Paul R P. Robot Manipulators:Marhematics,. Program and Control. MIT Press. 1982.