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兵工学报  2014 

关节齿隙对空间机械臂末端定位精度的影响

DOI: 10.3969/j.issn.1000-1093.2014.08.025, PP. 1301-1307

Keywords: 航天器结构与设计,机械臂,关节,齿隙,定位误差

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Abstract:

?研究齿隙存在情况下机械臂末端定位误差达到要求精度的概率。分析了现有齿隙模型的优点和缺点,对其中的死区模型进行改进,提出齿隙的随机变量模型。将此模型作为3关节机械臂的关节误差,导出机械臂末端定位误差的随机模型,并利用Taylor公式对模型作了近似处理,得到以关节误差的二次函数表示的简化模型,并在关节空间中讨论了末端定位误差的最大值和最小值问题。分4种情形给出定位误差达到要求精度的概率,为多阶段任务系统的路径规划和任务优化提供了依据。

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