摘要
基于吊丝配重的微重力地面试验平台,设计了一种双臂杆空间机械臂。应用SolidWorks软件建立这一机械臂的三维模型,基于投影法建立机械臂机构末端位置的数学方程。在误差独立作用的基础上,应用微分法对机械臂的结构参数进行精度分析,并应用MATLAB软件进行仿真,根据随机变量的分布规律,进行统计特征分析。通过研究确认,所设计的双臂杆空间机械臂拥有较高的精度和实用价值。所做研究同时可以为敏感度分析及误差补偿提供参考。
Based on the microgravity ground test platform with counterweight on hanging wire, a double-arm space manipulator was designed. The 3 D model of the manipulator was established by using SolidWorks software. The mathematical equation of the end position of the manipulator mechanism was established based on the projection method. On the basis of the independent effect of the error, the differential method was applied to analyze the structural parameters of the manipulator. The simulation was carried out by using MATLAB software, and the statistical characteristics were analyzed according to the distribution rules of random variables. It is confirmed through study that the designed double-arm space manipulator has high degree of precision and practical value. The findings can also provide reference for sensitivity analysis and error compensation.
出处
《机械制造》
2019年第10期31-34,共4页
Machinery
关键词
机械臂
精度
设计
分析
Manipulator
Accuracy
Design
Analyses
