【摘要】 通过矢量分析方法,分别讨论了3—PTT并联机构和两级3-PTT串并联微操作机器人机构的误差建模,研究了关节误差和驱动输入误差与机器人输出误差之间的关系,得到机器人机构的误差模型方程,为微操作机器人的误差补偿提供理论指导.更多还原

【Abstract】 The vector analysis method is employed to discuss the error modeling of 3-PTT parallel connection mechanism and two series 3-PTT series and parallel micromanipulator mechanism, and respectivey study the relationships between the articulation errors and the manipulator output errors and between the actuation input errors and the manipulator output errors. Thus the errors model equation of manipulator mechanism is obtained, which provides the theoretical guidance for the error compensation of micromanipulator.更多还原