六自由度串联机器人动态误差分析

Dynamic error analysis of 6-DOF serial robot

由于机器人在工作过程中受负载、连杆自重等因素影响,其连杆产生变形会引起末端执行器的位置误差。针对该问题,文章以FANUC M-10iAe机器人为研究对象,采用仿真与实验相结合的方法,以提高机器人定位精度为目标展开研究。在ADAMS环境中进行动力学仿真,对机器人工作过程中变载荷引起的动态误差进行分析;通过自主设计的测量装置及变载荷方盒进行试验,结果证实了动力学仿真的准确性;在误差分析结果的支撑下,设计开发了基于人机交互的误差补偿界面并通过了实例验证。

Robot is affected by the factors such as load, link weight in the working process, of which links deformation makes the end actuator position error. In this paper, taking FANUC M-10iAe robot as the research object, the improvement of robot positioning accuracy is studied by using the method of simulation and experiment. The dynamic simulation in ADAMS environment is conducted, and the robot dynamic error caused by the variable load is analyzed. The tests using the self-designed measur- ing device and variable load box are done, and the result shows the accuracy of dynamic simulation. On the basis of the acquired error data, the error compensation interface based on human-computer in- teraction is designed and developed, and its effectiveness is validated by an example.