机器人位姿误差的结构矩阵分析方法

The Application of Matrix-structural Method to the Error Analysis of Robots

机器人连杆的挠曲变形是引起机器人末端执行器位姿误差的主要因素之一 .应用有限元法和结构矩阵分析方法对串联式机器人进行运动弹性静力分析和运动弹性动力分析 ,建立了通用的机器人位姿误差分析模型 ,并编制了基于Matlab的Windows应用程序 .该程序具有较强的通用性 。

One of the major fact or s affecting the pose accuracy of robot end-effector is the deflection of robot links. In this paper, the finite element method and matrix-structural method ar e used for the kineto-elastostatic and kineto-elastodynamic analysis of the ro bot. A universal model of analyzing the pose errors of robot end-effector is se t up. The windows application based on the Matlab has been programmed. Using thi s program, the pose errors of planar and spatial robot caused by the deflection of robot links can be calculated.