工业机器人关节动态误差分析

Joint Dynamic Error Analysis for Industrial Robots

运用多体系统动力学的方法,对由机器人传动特性引起的关节动态误差进行分析,可为工业机器人的误差分析及误差补偿,提高其绝对精度提供有力的工具,具有通用,灵活,方便的特点。

The present paper has enlarged the usage of dynamics of Multibody Systemto solve the problem of joint dynamic error caused by the properties of transmission ele-ments of industrial robots.The equations of dynamics are established with the help ofthe concepts of Joint,Catesian and Driven Spaces so that the dynamic error equationcan be easily derived.Upon the above analysis,an example of coplanar three-jointrobot is given to varify that dynamics of Multibody System is an efficient and conve-nient way to joint dynamic error analysis and compensation,and one way to thecalculation of absolute accuracy of robot manipulators.From both the theoretic analy-sis and the practical example,it can be concluded that dynamic error depends not onlyon robot systems' parameters but on the given motion as well.Continuing work in-cludes the reseanable given motion in order to eliminate the dynamic errors.