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含有柔顺关节的并联机器人轨迹跟踪实验

Keywords: 柔顺关节,并联机器人,轨迹跟踪

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Abstract:

使用柔顺关节代替刚性转动副搭建柔顺关节并联机器人实验平台.利用OPTOTRAK测量系统对3-DOF柔顺关节并联机器人动平台轨迹进行测量.实验数据的对比分析表明:柔顺并联机器人运行平稳,由轴向漂移和弹性振动引起的误差均控制在允许范围之内.

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