中文摘要：

随着农业机器人的广泛应用,其运动精度受到更多关注。作为其基础机构的连杆机构误差建模,传统上大多基于齐次变换矩阵的微分法,建模过程不直观,误差变换矩阵为非齐次矩阵。因此,将串联机构的D-H参数误差等效为虚拟运动副运动的结果,以旋量理论为数学工具,建立机构误差模型;将输出构件的位置和姿态误差分别用移动副旋量运动和转动副旋量运动表示,给出其大小及方向的计算方法。以PUMA560机器人为例,在Matlab下编程进行了误差仿真分析,并使用Adams软件对误差仿真结果进行了验证,2种分析方法只有0.001mm级的差异。结果表明该误差建模与仿真方法正确有效,建模过程直观简便。

英文摘要：

With the wide application of agricultural robots,their motion accuracy draws more and more attention.Conventional error models of linkage mechanisms are based on homogeneous transformation matrix differential.The limitation is that modeling process is cumbersome,and the error transformation matrix is not homogeneous.For this reason,using screw theory,the D-H parameters errors of open-chain linkage were treated as the result of equivalent virtual joint screw motion,and the error model was established.Meanwhile,the position and orientation error of output link were represented as prismatic and revolute pair screw motion,respectively,and its calculation formula were also given.As an example,the error simulation of PUMA560 was performed via Matlab programming.Furthermore,Adams＇s simulation were used in verifying the established model,the difference between two methods was only 0.001 mm.The results indicate that the simulation method is effective and correct,the modeling process is simple and intuitive.