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利用一个柔性宏 /微机械手空间机器人结构 ,即在一台大型的柔性宏机械手的末端安装一台小型的微机械手 ,以提高柔性空间机器人的作业精度。基于机器人摄动理论和正、逆运动学理论 ,推导利用微机械手的快速和精密运动消除柔性宏 /微机械手误差的补偿原理。仿真结果表明补偿前 ,宏 /微机械手末端点因弹性杆件变形引起的在 x方向的最大误差近 6 m m,在 y方向的最大误差近 8m m,采用所提出的方法进行补偿后 ,末端误差几乎为零。所提出的误差补偿方法能够有效地提高机器人末端点的定位和跟踪作业精度
Using a flexible macro / micromanipulator space robot structure, a small micromanipulator is installed at the end of a large flexible macro robot to improve the working precision of the flexible space robot. Based on the theory of robot perturbation and the theory of positive and inverse kinematics, the compensation principle of eliminating the error of flexible macro / micro manipulators by using the rapid and precise motion of micro-manipulator is deduced. The simulation results show that the maximum error of the macro / micromanipulators in the x direction due to the deformation of the elastic rod is nearly 6 mm before compensation, and the maximum error in the y direction is nearly 8 m m. After compensating with the proposed method, the tip error Almost zero. The proposed error compensation method can effectively improve the positioning and tracking robot end point accuracy