机器人结构参数最优公差及关节最佳运动误差

ON THE OPTIMUM TOLERANCES OF STRUCTURE PARAMETERS AND KINEMATIC ERRORS IN JOINTS OF ROBOT LINKAGES

本文给出了机器人位置和姿态误差的一种矩阵形式.根据矩阵原理,得到一个重要结论:若机器人位姿误差在其工作空间内达到最小,则机器人结构参数误差和关节运动误差矢必须等于位姿误差系数矩阵最小特征值对应的标准正交特征向量。本文还讨论了如何选择结构参数最优公差以及相应的关节最佳运动误差.最后结出了一个六自由度关节型机器人的数值计算。

This paper presents a matrix form of the positional and orientational errors of a robot linkage.By thematrix theory,the paper reaches a conclusion that if the positional and orientational errors in its workspaceis minimum,the aberrations of structure parameters and the kinematic errors in joints must be theeigenvector corresponding to the least eigenvalue of the coefficient matrix of positional and orientationalerrors.The method for choosing the optimum tolerances of structure parameters is also presented in the pa-per,and the optimum kinematic errors in joints is given.A numerical exampte of a six DOF robot linkage ispresented.