工业机器人精度的概率设计

PROBABILITY DESIGN OF ACCURACY FOR INDUSTRIAL ROBOT

本文从系统响应的概念出发.将具有N个自由度的开链工业机器人系统分成若干相互串联或并联系统,找出各系统之间的误差传递关系,提出了误差系统响应的概念.在此基础上.引入概率方法建立起工业机器人精度的概念分析和概率优化分配的数学模型.同时还对引起机器人手部误差的各种原始随机误差及手部误差本身的分布情况进行了初步分析.最后,以一台五自由度的装配机器人作实例进行了概率设计.

Based on the concept of system response, this paper analyzes the open-chain industrial robot with N degreesof freedom which is divided into several systems in series or parallel connections. By analysies, the error transmis-sion relation of these systems is found out and the conicept of system response of error is presented. In the paper, aprobability approach is adopted to set up a mathematical model for analysis and optimal distributions of accuracy of the industrial robot. Meanwhile, the distributions of hand error and all kind of initial random errors resulting inhand error are preliminarily analyzed. Finally, as an example, an assembling robot with five degrees of freedom is designed by the probability ap-proach.