基于正交实验机械臂定位误差影响因素研究

Studies on the Influencing Factors of the Manipulator Positioning Error Based on Orthogonal Experiment

以MOTOMAN-MH6六自由度机械臂为平台,针对机器人末端定位精度的影响因素显著程度问题,通过建立误差传递模型,从理论上分析了机械臂运动参数对绝对定位精度的影响,得到了意义明确、形式简洁的误差传递表达式。对机械臂的运动参数进行了2k因子正交实验,并对实验结果进行了统计与方差分析。将最影响机械臂末端定位精度的因素从"靠近基座的参数"具体为"靠近基座的角度参数",对进一步提高机械臂的标定精度和机械臂的设计制造具有一定的指导意义。

The MOTOMAN-MH6 manipulator with six degree of freedom is taken as a platform.In view of the problem of the influencing factors significance of the robotic terminal positioning accuracy,the influence of the motion parameters of the manipulator on the absolute positioning accuracy is analyzed theoretically by establishing the error transfer model.Thus the clean and meaningful error transfer expression is obtained.The 2 k factor orthogonal experiment was carried out on the motion parameters of the robot,and the variance of the experimental results is analyzed and computed.The most significant factor affecting the positioning accuracy of the end of the manipulator is specified as"the angle parameter near the base"from"the parameter near the base".This conclusion has further guiding significance for improving the manipulator calibration precision and the manipulator design and manufacture.