机械手连杆的挠曲变形对抓手位置和形态的影响

详细信息

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．
- 机械手 /
- 连杆 /
- 挠曲变形 /
- 机器人 /
- 误差
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.
- Manipulator /
- link /
- curving change /
- robot /
- error

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