SIA OpenIR  > 水下机器人研究室
深海五功能电动机械手误差建模与仿真
Alternative TitleError Modeling and Simulation of A Deep - Sea 5 - Function Electric Manipulator
范云龙; 张奇峰; 张竺英
Department水下机器人研究室
Source Publication计算机仿真
ISSN1006-9348
2015
Volume32Issue:12Pages:345-348, 429
Indexed ByCSCD
CSCD IDCSCD:5608087
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
Abstract针对设计的直线缸驱动式深海5功能电动机械手,研究其定位误差及主要影响因素,采用矩阵微分法建立了机械手各个关节的D-H位姿误差模型和末端位姿误差模型,对末端位姿误差模型进行了仿真分析,得出了机械手基座坐标系下的末端位姿误差。仿真结果显示:设计的机械手末端可以实现毫米级定位,关节角误差是影响末端位置误差的主要因素,可通过减小直线缸定位误差来提高机械手定位精度。
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.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/17599
Collection水下机器人研究室
Affiliation1.中国科学院沈阳自动化研究所
2.中国科学院大学
Recommended Citation
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.
Files in This Item: Download All
File Name/Size DocType Version Access License
深海五功能电动机械手误差建模与仿真.pd(747KB)期刊论文作者接受稿开放获取ODC PDDLView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[范云龙]'s Articles
[张奇峰]'s Articles
[张竺英]'s Articles
Baidu academic
Similar articles in Baidu academic
[范云龙]'s Articles
[张奇峰]'s Articles
[张竺英]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[范云龙]'s Articles
[张奇峰]'s Articles
[张竺英]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 深海五功能电动机械手误差建模与仿真.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.