基于刚柔耦合建模的6R机器人位置误差分析

Analysis of Pose Error of 6R Serial Robot on Rigid-flexible Coupling

由于机器人在工作过程中受运行速度和加速度以及末端负载等因素变化的影响,其连杆和关节产生的形变会引起末端执行器的位置误差,针对这一问题,以FANUC M-6i B机器人为研究对象,采用仿真与试验相结合的方法,对机器人末端位置精度进行研究。运用DH法则建立运动学模型和位置误差模型,分析机器人DH参数发生微小变化对末端位置误差的影响;在ADAMS环境中进行刚柔耦合动力学仿真,在同时考虑关节柔性和连杆柔性的前提下分析运行速度和加速度、末端载荷变化对机器人末端定位精度的影响;通过自主设计的测量装置及变载荷方盒进行试验,试验与仿真结果的对比表明利用刚柔耦合动力学模型模拟计算机器人末端误差具有较好的一致性。

Due to robot affected by the factors such as speed and acceleration,load in the working process,links and joints deformation make the end actuator position error,in order to solve this problem,the thesis take Fanuc M-6 i B robot as the research object,take the method of simulation and experiment,in order to improve robot positioning accuracy. The kinematics and pose error model of the robot is established by DH rule,analyze the effects of kinematics and structural parameters on the effect of the robot pose error. Rigidflexible coupling dynamics simulation in Adams environment,analyze the robot pose error caused by the variable of speed and acceleration,load; The tests use the self designed measuring device and variable load box,experimental error and simulation error comparative results showthat the use of rigid-flexible coupling dynamics model to simulate the robot end-error has good reliability. Finally,the errors caused by the above two factors are integrated.