Assembly errors have great influence on assembly quality in robotic assembly systems. Error analysis is directed to the propagations and accumula-tions of various errors and their effect on assembly success.Using the ...Assembly errors have great influence on assembly quality in robotic assembly systems. Error analysis is directed to the propagations and accumula-tions of various errors and their effect on assembly success.Using the screw coordinates, assembly errors are represented as 'error twist', the extremely compact expression. According to the law of screw composition, relative position and orientation errors of mating parts are computed and the necessary condition of assembly success is concluded. A new simple method for measuring assembly errors is also proposed based on the transformation law of a screw.Because of the compact representation of error, the model presented for error analysis can be applied to various part- mating types and especially useful for error analysis of complexity assembly.展开更多
采用圆点分析法(Circle Point Analysis,CPA)进行机器人标定,其测量过程简单,但由于标定结果不够精确,影响了该方法的实用价值。基于旋量理论采用POE法建立机器人的运动学模型,结合圆点分析法获得实际关节的轴线位置,从而得到机器人实...采用圆点分析法(Circle Point Analysis,CPA)进行机器人标定,其测量过程简单,但由于标定结果不够精确,影响了该方法的实用价值。基于旋量理论采用POE法建立机器人的运动学模型,结合圆点分析法获得实际关节的轴线位置,从而得到机器人实际末端位姿。采用最小二乘法标定机器人的末端位置精度。该方法应用于固体火箭发动机绝热层打磨机器人的精度标定过程中,得到了较高的机器人末端执行器的精度,并使CPA法的应用得到了拓展;在有效提高精度的同时,可获得各关节轴线的实际位置信息,为机器人局部关节结构的完善与优化提供了数据参考。展开更多
基金This work is Supported by the National Science Foundation under Grant 863 -512 -9820-04.
文摘Assembly errors have great influence on assembly quality in robotic assembly systems. Error analysis is directed to the propagations and accumula-tions of various errors and their effect on assembly success.Using the screw coordinates, assembly errors are represented as 'error twist', the extremely compact expression. According to the law of screw composition, relative position and orientation errors of mating parts are computed and the necessary condition of assembly success is concluded. A new simple method for measuring assembly errors is also proposed based on the transformation law of a screw.Because of the compact representation of error, the model presented for error analysis can be applied to various part- mating types and especially useful for error analysis of complexity assembly.
文摘采用圆点分析法(Circle Point Analysis,CPA)进行机器人标定,其测量过程简单,但由于标定结果不够精确,影响了该方法的实用价值。基于旋量理论采用POE法建立机器人的运动学模型,结合圆点分析法获得实际关节的轴线位置,从而得到机器人实际末端位姿。采用最小二乘法标定机器人的末端位置精度。该方法应用于固体火箭发动机绝热层打磨机器人的精度标定过程中,得到了较高的机器人末端执行器的精度,并使CPA法的应用得到了拓展;在有效提高精度的同时,可获得各关节轴线的实际位置信息,为机器人局部关节结构的完善与优化提供了数据参考。