并联机器人位姿误差英汉翻译资料.doc

并联机器人位姿误差分析 Study on pose errors analysis of parallel robot 于大泳，韩俊伟，李洪人 (哈尔滨工业大学机械电子工程系，黑龙江哈尔滨150001) YUDa-yong,HAN Jun-wei, LI Hong-ren (Department of MechanicalElectronics Engineering, Harbin Institute of Technology, Harbin 150001, China) 摘　要：利用并联机器人的运动学反解模型，通过误差传递矩阵的求解来探讨机器人主要误差源与其位姿误差之间的关系，建立了并联机器人的位姿误差模型。并讨论了并联机器人主要误差源对位姿精度的影响，为实际误差的补偿与控制奠定了理论基础。 关键词：并联机器人；位姿误差;误差模型；运动学反解；补偿与控制 Abstract:Using the inverse kinematic model of the parallel robot,the relationship between main error resources of parallel robot and its pose errors was discussed,and error model of parallel robot is setup in this paper through error transfer matrix.The influence of the main error resources on the pose accuracy was discussed,which base compensation and control theory of error in practice. Key words:parallel robot; pose errors;error model; inverse kinematics; compensation and control 与串联机器人相比，并联机器人具有刚性好、负载能力强、动态响应好、位置精度高等优点。因而,近年来在机器人研究和应用领域颇受重视[1]。在各种并联机器人中，Stewart机器人及其衍生机构无论在理论分析方面还是在实际应用方面都颇为重要。因此，分析和计算Stewart机器人的位置姿态误差是必要的，为实现该机器人的位置姿态的精确控制提供了前提条件。 Compared with serial robots, parallel robot has good rigidity, load capacity, good dynamic response, high location accuracy.Therefore, in recent years received considerable attention in the field of robotics research and application[1]. Among various kinds of parallel robot,Stewart robot mechanism and its derivatives both in theory and in practice analysis applications are quite important. Therefore, analysis and calculating the position of the robot posture Stewart Error is necessary, for the position of the robot pose accuracy provide the premise for control. 1、误差分析 从图1可以看出,并联Stewart机器人是由一个活动的上平台和一个固定的下平台组成，2个平台之间用6根液压驱动的可伸缩杆连接.该机器人理想运动学反问题方程根据空间几何关系，便可求得 （1） 1、Error Analysis As can be seen from Figure 1, the Stewart platform robot is an active and a fixed lower platform composed by six hydraulically driven telescopic rod connection between the two platforms. The ideal robot kinematics inverse problems for equations based on the spati