基于刚柔耦合制曲车间曲块搬运机器人定位精度的研究

Research on Positioning Accuracy of Robot for Handling the Koji Block in Koji-making Workshop Based on Rigid-Flexible Coupling

针对制曲车间曲块搬运机器人对搬运精度有一定要求,所以对机器人定位精度进行研究。对初步设计的机器人进行刚柔耦合分析,得到的工作误差已经超过了用曲架孔轴配合的最小间隙确定的机械人定位精度的误差范围,通过运用对机器人关键构件进行结构优化的方法来提高定位精度。再对机器人进行刚柔耦合分析,并进行改进前后的刚柔耦合结果对比:改进前,曲架抓取定位误差为0.4 mm,曲架放置定位误差为1.1 mm;改进后,曲架抓取定位误差为0.35 mm,放置定位误差为0.70 mm。结果表明:改进后的机器人末端定位精度有明显的提高,该优化方法有效。

According to the requirement of handling precision of robot for handling the koji block in the koji-making workshop, the paper studies the positioning accuracy of the robot. The working error of the robot was obtained by the preliminary design robot rigid-flexible coupling analysis, and it had surpassed the error range of the robot positioning accuracy which was determined by the minimum clearance of the koji-shelf shaft and holes. The method of structural optimization for the robot key components was applied to improve the positioning accuracy. Carry out the rigid-flexible coupling analysis of robot again, and compared the results of the rigid-flexible coupling analysis before and after robot improvement. The grab koji-shelf positioning error of 0.4 mm, placing the 1.1 mm positioning error, the improved Koji-shelf grab positioning error was 0.35 mm, place position error was 0.7 ram. The results showed that the improved end positioning accuracy of the robot was improved obviously, and the effectiveness of the optimization was verified.