新型混联码垛机器人概率精度分析

Probabilistic accuracy analysis of a new type of hybrid palletizing robot

针对机器人全局性定位精度分析及误差评定问题,提出了概率精度指标及其定义,同时提出了机器人在整个工作空间内概率精度分析的MATLAB软件模拟方法;并以新型混联码垛机器人为例,建立了基于MDH模型的机器人定位误差模型,采用概率精度法进行定位精度预估和灵敏度分析;模拟结果表明,机器人在不同工作点处的定位误差不同,综合定位误差不是各误差源的简单叠加;为机器人最优工作点的选取,各连杆加工精度等级和装配工艺的设计制定及柔性误差补偿提供了理论依据。

To solve the problem of global positioning precision and error evaluation of the robot, the probabilistic precision index and its definition are proposed. In addition, the simulation method with MATLAB software for the probabilistic accuracy analysis of the robot in the whole working space is presented. In this paper, with the new type of hybrid palletizing robot as an example, the positioning error model based on the MDH model is set up, and then the positioning accuracy prediction and sensitivity analysis are carried out by means of probabilistic accuracy method. The simulation results show that the positioning errors of the robot at different working points are varied, and the integrated positioning error is not a simple superposition of error sources. The results provide theoretical basis for the selection of optimal working points, and the design of precision grade and assembly process of connecting rods, as well as the flexible compensation of error.