【摘要】 机器人的误差,由于涉及的因素众多、测量困难、计算麻烦,而成为机器人领域研究的一个难题.为此采用了微分法,具体地对SIWR Ⅱ型水下机械手进行了误差分析.推导出终端误差的表达式,求出各关节误差与终端误差之间的关系,通过仿真结果验证了分析计算的正确合理性.最后给出了几点可供相关人员参考的有益结论,即各关节的转动分量和移动分量对终端各分量的影响程度,通过误差公式中关节对终端的影响程度加以人为的调整可以提高运动精度、减小误差.更多还原

【Abstract】 The errors of SIWRⅡ underwater manipulator were analysed using differentiators with expression derived for terminal errors and relationship between joints and terminals developed.By making propgram,and the validity and rationality of analyses and calculation were verified through computer simulation.It is suggested that every joint’s component has its effect on the magnitude of and therefore the joints should be adjusted as nescessary to improve their precision and reduce their errors.更多还原