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平面2R含铰间隙机器臂末端位姿精度建模仿真分析

张发军 李林子 朱鑫 蒲胤霖 林辉 田红亮

张发军, 李林子, 朱鑫, 蒲胤霖, 林辉, 田红亮. 平面2R含铰间隙机器臂末端位姿精度建模仿真分析[J]. 机械科学与技术, 2016, 35(2): 232-236. doi: 10.13433/j.cnki.1003-8728.2016.0213
引用本文: 张发军, 李林子, 朱鑫, 蒲胤霖, 林辉, 田红亮. 平面2R含铰间隙机器臂末端位姿精度建模仿真分析[J]. 机械科学与技术, 2016, 35(2): 232-236. doi: 10.13433/j.cnki.1003-8728.2016.0213
Zhang Fajun, Li Linzi, Zhu Xin, Pu Yinlin, Lin Hui, Tian Hongliang. Modeling and Simulation for End-pose Accuracy of Planar 2R Manipulator with Joint Clearance[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(2): 232-236. doi: 10.13433/j.cnki.1003-8728.2016.0213
Citation: Zhang Fajun, Li Linzi, Zhu Xin, Pu Yinlin, Lin Hui, Tian Hongliang. Modeling and Simulation for End-pose Accuracy of Planar 2R Manipulator with Joint Clearance[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(2): 232-236. doi: 10.13433/j.cnki.1003-8728.2016.0213

平面2R含铰间隙机器臂末端位姿精度建模仿真分析

doi: 10.13433/j.cnki.1003-8728.2016.0213
基金项目: 

国家自然科学基金项目(51275273)资助

详细信息
    作者简介:

    张发军(1964-),教授,博士,硕士生导师,主要研究方向为机电模糊控制、精确施药及其相关理论的研究,doctorzyy@126.com

Modeling and Simulation for End-pose Accuracy of Planar 2R Manipulator with Joint Clearance

  • 摘要: 由于多种不稳定因素对机器臂的影响,末端执行器往往会偏离理论作业位置,导致工作精度降低,其中机器臂铰接处存在的间隙对其运动影响很大。为了研究铰间隙对机器臂末端位姿的影响,采用D-H坐标系和位姿坐标变换法建立了机器臂逆运动学模型,用MATLAB获得广义坐标解析解,并由该广义坐标出发建立含间隙机器臂正运动学模型;采SolidWorks建立机器臂三维模型,分别对有、无铰间隙机器臂运动进行仿真及误差分析,得到机器臂作业时末端执行器的运动特性。结果表明,铰间隙对线性动态特性及角加速度有一定影响,特别是对线加速度和角加速度影响较大,使机器臂末端位姿存在偏差,降低了机器臂的运动稳定性与作业精度。
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出版历程
  • 收稿日期:  2014-08-05
  • 刊出日期:  2016-02-05

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