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由于联合清除而导致的4R和P3R封闭链机制中的错误估计和补偿:一项比较研究
Ankur Jaiswal1, Darren Alton Dsouza2, H P Jawale3
1Department of Mechatronics, Manipal Institute of Technology, Manipal Academy of Higher Education (MAHE), Manipal, 576104, Karnataka, India. ankur.jaiswal@manipal.edu.
Scientific reports
|October 15, 2025
概括
平面机制中的联合清除会导致不统一的错误. 四旋转 (4R) 机制比镜-旋转 (P3R) 设计更坚固,这表明旋转关节更好地减少机器人操纵器的不准确性.
科学领域:
- 机械工程 机械工程
- 机器人技术 机器人技术 机器人技术
- 机制设计 机制设计
背景情况:
- 在平面机制中,四条条连接是基本的.
- 联合清算是绩效偏差的一个主要来源.
- 了解清除效应对于准确的机制操作至关重要.
研究的目的:
- 评估4R和P3R平面机制与联合清除的性能.
- 为了比较不同关节类型的空隙对轨迹生成的影响.
- 开发一种用于机械错误分析和补偿的方法.
主要方法:
- 详细的机械错误分析和补偿方法.
- 对4R和P3R配置进行比较性能评估.
- 在相同条件下的轨迹生成任务.
主要成果:
- 联合清算会导致不统一的位置错误,挑战现有的假设.
- 与P3R相比,4R机制表现出优越的稳定性和较低的对清除误差的敏感性.
- 位置不准确性受到关节执行类型的重大影响.
结论:
- 基于转向关节的驱动是优于晶格式的驱动,以尽量减少机器人操纵器的位置不准确性.
- 该研究为评估和减轻机制中的机械不准确性提供了通用框架.
- 研究结果为设计更精确,更可靠的机器人系统提供了洞察力.
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