摘要
通过调查研究找出机器人定位精度的影响因素,进行机器人运动学分析,建立以D-H模型为基础的MDH机器人运动学误差模型,结合已设计完成的机器人,利用SolidWorks软件的公差分析插件分析由零件制造误差、装配误差和关节间隙引起的运动学误差,得出机器人各关节精度偏差的极限值。分析结果得出在运动学因素的影响下,机器人名义位姿与实际位姿之间的误差较大,影响了机器人的定位精度,需进一步对其进行补偿。
Through the investigation and study to find out the influence factors of robot localization accuracy, the robot kinematics is analyzed, The MDH kinematics error model of robot are established based on D-H model, combined with the design of robot which has been finished, robot kinematics errors caused by parts manufacture, assembly and joint clearance are analyzed by using the plug-in unit in SolidWorks to obtain the limit deviations. Results of robot accuracy deviation limit value of each joint, It is found that the error between the named position and the actual position influenced by robot kinematics factors is great, which need to be compensated.
出处
《机械》
2014年第4期70-74,共5页
Machinery
基金
国家"高档数控机床与基础制造装备"科技重大专项资助项目(2012ZX0411-031)
关键词
动力学分析
参数
误差模型
定位精度
kinematic analysis
parameter
error model
positioning accuracy
