马晓丽,陈艾华,陈晓英,马履中.虚拟轴工作台机构的误差分析和补偿[J].农业机械学报,2007,38(11):123-128.
.[J].Transactions of the Chinese Society for Agricultural Machinery,2007,38(11):123-128.
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虚拟轴工作台机构的误差分析和补偿   [下载全文]
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DOI:10.3969/j.issn.1000-1298.[year].[issue].[sequence]
中文关键词:  并联机器人  误差  补偿  仿真
基金项目:
马晓丽  陈艾华  陈晓英  马履中
衢州学院
中文摘要:为了了解机构的原始误差对运动平台输出位姿的影响,从而采取措施消除误差来提高精度,对3T-1R 4自由度并联机器人机构作误差分析和补偿。在已建立的位置反解模型基础上,确定参与机构误差建模的结构参数,以全微分误差分析理论为基础,建立机构的误差模型以及误差求解算法。针对结构参数和输入运动参数等的原始误差作误差求解仿真和定量分析。充分运用误差正解和反解模型,探讨软件补偿法的工作空间补偿和关节空间补偿,提出相应的误差补偿算法。用误差补偿算法仿真了机构的误差补偿,实例说明2种误差补偿算法可靠实用。
Key Words:
Abstract: In order to know the influence caused by the original mechanism errors for the position-stance outputs, and take measures against eliminating errors and improving the precision, this paper worked out error analysis and error compensation for 3T-1R 4-DOF parallel robot mechanism. Based on the positional inverse solution model, the error model and the computational error procedure for the mechanism were established. The error simulations and quantitative analysis were carried out when errors were aroused from original errors of the structural parameters and driving parameters. The error forward and inverse resolutions were used in carrying out the position-rotation parameters workspaces and the joint workspaces compensation in software compensation technique, and the error compensation algorithms were introduced. The error compensation examples proved that two error compensation procedures are dependable and useful.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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