机器人精度设计的方法研究

A novel method for precision robotic design

针对机器人精度设计问题,首先通过机器人运动学建模方法推导机器人位姿误差模型,再结合概率分析方法建立机器人精度设计问题的概率分析模型.为将该模型方便地用于机器人精度设计实践,用一个数字指标——概率精度对机器人在整个作业空间内的位置精度进行全局性描述,并基于概率精度指标提出以数学模拟实验为基础的机器人精度设计的新方法.针对蒸汽发生器检修机器人精度设计的实际问题,将所提方法用于该机器人的机械制造精度等级、关节控制精度等设计实践,应用结果表明所提出的机器人精度设计方法是简捷、有效的.

To solve the problem of precision robotic design,the robotic pose error model was established by first using the kinematical modeling method.Next,the probability model related to the problem of precision robotic design was deduced in combination with the probability method.In order to easily construct the probability model for precision robotic design practice,a numeral index called probability precision was proposed to describe the overall pose accuracy in the wholly robotic workspace.After that,a new precision design method was proposed based on mathematical simulation.Aiming to achieve the precision design of the Steam Generator Overhaul Robot,the new method was used to design manufacturing tolerance and joint control precisions,and the application result indicates that the proposed method for precision robotic design is simple and effective.