LI Rui-qin, YANG Bin
(School of Mechanical and Power Engineering, North University of China, Taiyuan 030051, China)
Abstract： By selecting any one limb of 3-RSR parallel robot as a research object, the paper establishes a position and orientation relationship matrix between the moving platform and the base by means of Denavit-Hartenberg (D-H) transformation matrix. The error mapping model is derived from original error to the error of the platform by using matrix differential method. This model contains all geometric original errors of the robot. The nonlinear implicit function relation between position and orientation error of the platform and the original geometric errors is simplified as a linear explicit function relation. The results provide a basis for further studying error analysis and error compensation.
Key words： error modeling; 3-RSR; parallel robot; Denavit-Hartenberg (D-H) transformation matrix
CLD number： T242 Document code： A
Article ID： 1674-8042(2014)03-0053-07 doi： 10.3969/j.issn.1674-8042.2014.03.010
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基于D-H矩阵的3-RSR并联机器人的误差建模
李瑞琴， 杨斌
(中北大学 机械与动力工程学院， 山西 太原 030051)
摘要:本文通过选取3-RSR并联机器人的任意一条支链作为研究对象， 利用D-H矩阵建立动平台相对于静平台的位姿关系矩阵， 采用矩阵微分法推导出机构原始误差到末端执行部分的误差映射模型。 该模型包含了机构全部的几何原始误差， 同时将末端执行部分位姿误差与原始几何误差间的非线性隐式函数关系简化为线性显式函数关系， 是进一步研究误差补偿的基础。
关键词:误差建模； 3-RSR； 并联机器人； D-H转换矩阵
引用格式：LI Rui-qin, YANG Bin. Error modeling of 3-RSR parallel robot based on D-H transformation matrix. Journal of Measurement Science and Instrumentation, 2014, 5(3): 53-59. [doi: 10.3969/j.issn.1674-8042.2014.03.010]Vol.5 No.3, Sept. 2014Journal of Measurement Science and InstrumentationSum No.19LIU Hua, et al. / Design analysis and its application of M out of N in reactor protection systemJournal of Measurement Science and InstrumentationVol.5 No.3, Sept. 2014
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