一种含铰链间隙机器人运动分析方法及其验证

Motion Analysis Method and Verification of a Robot with Hinge Clearance

针对六轴机器人铰链间隙,基于无质量杆建模方法,提出一种改进的无质量杆方法。由于六轴机器人各关节间隙所引起的误差将会在末端形成误差累积,因此各关节铰链间隙对机器人精度将产生较大影响。若采用较复杂的铰链间隙建模方式,将会使建模过于复杂,故选择无质量杆方法,并对其进行改进。此方法在无质量杆的基础上增加一滑块,反映铰链径向运动。最后通过仿真,分析改进无质量杆方法与实际数据之间的误差。研究表明,该方法在简化计算的同时,具有一定的精度。

To reduce hinge clearance of six-axis robot,an improved massless link method is proposed based on the massless link method.Because the errors caused by the joint clearance of the six-axis robot will accumulate the end pose errors,the joint clearance will have a great impact on the accuracy of the robot.However,if the more complex hinge gap modeling approach is used,it will make the modeling too complicated,so the massless rod method is chosen to improve it.In this method,a slider is added to the massless rod to reflect the radial motion of the hinge.Moreover,the error between the improved method and the actual data is analyzed by simulation.Research shows that this method has certain accuracy while simplifying the calculation.