首页|期刊导航|国际设备工程与管理（英文版）|Analysis of Robot Accuracy Assessed via its Joint Clearance by Virtual Prototyping Method
国际设备工程与管理（英文版）2004，Vol.9Issue(1)：25-34,10.
Analysis of Robot Accuracy Assessed via its Joint Clearance by Virtual Prototyping Method
Analysis of Robot Accuracy Assessed via its Joint Clearance by Virtual Prototyping Method
摘要
Abstract
This paper discusses how joint clearance influences robot end effector positioning accuracy and a robot accuracy analysis approach based on a virtual prototype is proposed. First, a 5-DOF( Degree of freedom) rneurosurgery robot was introduced. Then we built its virtual prototype, made movement planning and measured the manipulator tip accuracy, through which this robot accuracy portrait was obtained. Finally,in order to validate the robot accuracy analysis approach which is based on a virtual prototype, the result was compared with that from a model built by robot forward kinematics and robot differential kinematics.The robot accuracy analysis approach presented in this paper gives a new way to enhance robot design quality, and help to optimize the control and programming of the robot.关键词
robot/joint clearance/accuracy analysis/virtual prototypeKey words
robot/joint clearance/accuracy analysis/virtual prototype分类
机械制造引用本文复制引用
GUO Ling,WANG Li-hong,ZHANG Yu-ru..Analysis of Robot Accuracy Assessed via its Joint Clearance by Virtual Prototyping Method[J].国际设备工程与管理（英文版）,2004,9(1):25-34,10.基金项目
This paper is supported by the National High Technology Research and Development Program of China under Grant No. 2001 AA422110. （）
