涉核作业机器人刚度与末端变形研究

蒋君侠,张渊淞,仲笑欧

Research on stiffness and end deformation of nuclear related operation robot

Junxia JIANG,Yuansong ZHANG,Xiaoou ZHONG

表1 机器人连杆D-H参数

Table 1 Linkage D-H parameters of robot

连杆	$α_{i - 1}$ / (°)	$a_{i - 1}$ /mm	d_i /mm	θ_i / (°)
1	180	0	d₁	θ₁ (90)
2	90	0	0	θ₂ (90)
3	0	$a_{2}$	-d₃	θ₃
4	180	$a_{3}$	d₄	θ₄ (90)
5	90	0	d₅	θ₅
6	90	0	d₆	θ₆