焦国太, 阿. 德. 依科拉夫, 瓦. 谢. 库利绍夫. 机械手连杆的挠曲变形对抓手位置和形态的影响[J]. 机器人, 2000, 22(2): 122-127.
引用本文: 焦国太, 阿. 德. 依科拉夫, 瓦. 谢. 库利绍夫. 机械手连杆的挠曲变形对抓手位置和形态的影响[J]. 机器人, 2000, 22(2): 122-127.
JIAO Guo-tai, Egorov, O. D. Vladimir. EFFECT OF CURVING CHANGE OF ROBOT LINK ON POSITION AND FORM OF MANIPULATOR[J]. ROBOT, 2000, 22(2): 122-127.
Citation: JIAO Guo-tai, Egorov, O. D. Vladimir. EFFECT OF CURVING CHANGE OF ROBOT LINK ON POSITION AND FORM OF MANIPULATOR[J]. ROBOT, 2000, 22(2): 122-127.

机械手连杆的挠曲变形对抓手位置和形态的影响

EFFECT OF CURVING CHANGE OF ROBOT LINK ON POSITION AND FORM OF MANIPULATOR

  • 摘要: 以机械手运动学及连杆坐标变换为基础,在已知各连杆由于挠曲变形所产生的相对微小位移的条件下,提出了计算机器人抓手的位置和形态误差的方法.并以斯坦福机械手为例进行了实例计算,为提高机械手的定位精度提供了依据.

     

    Abstract: On the basis of the robot moving theory and the link coordinate change, a method of calculating the error of position and form of manipulator is given. A stanford manipulator has been taken as an example to carry out the actual calculation. The calculating results should offer a theory basis for improving the position accuracy.

     

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