Abstract: In view of the influences of joint errors in manipulator motions on terminal accuracy of heavy-duty manipulators，a self-organizing precision mode of heavy-duty manipulators was put forward based on waterfall mechanism，inspired by the characteristics of automatic restoration of biological waterfall mechanism.Then，the inertia matrix of the manipulator joints was studied and the influences of the joint inertia matrix on end precision were analyzed.Combined with working principles of waterfall mechanism，self-organizing model for heavy-duty manipulator motions was solved.From manipulator inertia forces，the mathematical model of the manipulator joint torques was resolved.Then the simulations show that the self organizing pattern of waterfall mechanism may reduce the effects of joint errors on the accuracy of manipulator joints.

Key words: waterfall mechanism, inertial matrix, self-organization, precision compensation

摘要： 针对机械手运动中的关节误差对重载机械手精度的影响，受生物瀑布机制自动修复特点的启发，提出基于瀑布机制的重载机械手自组织精密模式。研究了机械手关节的惯性矩阵，分析了关节惯性矩阵对末端精度的影响；结合瀑布机制的工作原理，求解了重载机械手精密运动的自组织模式；从机械手关节惯性力出发，推导出关节误差对机械手关节力矩的数学模型，并对其进行仿真分析。结果表明，瀑布机制的自组织模式可减小关节误差对机械手关节精度的影响。

关键词: 瀑布机制, 惯性矩阵, 自组织, 精度补偿