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Alternative TitleError Modeling and Simulation of A Deep - Sea 5 - Function Electric Manipulator
范云龙; 张奇峰; 张竺英
Source Publication计算机仿真
Volume32Issue:12Pages:345-348, 429
Indexed ByCSCD
Contribution Rank1
Funding Organization国家863 计划资助项目(2012AA091101)
Keyword电动机械手 矩阵微分法 位姿误差
Other AbstractFor the design of a deep - sea 5 - function electric manipulator driven by linear cylinder,the positioning accuracy and the main factor which affect the positioning accuracy are studied. The matrix differential method is used to establish each joint D - H posture error model and the end posture error model of the manipulator,and the simulation analysis is made for the end posture error model. The results of simulation show that the end of the manipulator can achieve millimeter level positioning and the main factor affect the end errors is the joint angle errors. The positioning accuracy of the manipulator can be improved by reducing the positioning error of the linear cylinder.
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Document Type期刊论文
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GB/T 7714
范云龙,张奇峰,张竺英. 深海五功能电动机械手误差建模与仿真[J]. 计算机仿真,2015,32(12):345-348, 429.
APA 范云龙,张奇峰,&张竺英.(2015).深海五功能电动机械手误差建模与仿真.计算机仿真,32(12),345-348, 429.
MLA 范云龙,et al."深海五功能电动机械手误差建模与仿真".计算机仿真 32.12(2015):345-348, 429.
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