【作者】 焦国太；

【导师】 余跃庆；

【作者基本信息】 北京工业大学 ， 机械设计及理论， 2002， 博士

【摘要】 本文在刚性机器人精度分析的基础上,结合柔性机器人的研究成果,对机器人位姿误差的分析与综合作了较为系统的研究。文中充分考虑了连杆和关节柔性以及静态误差对机器人末端执行器位姿精度的影响,将刚性机器人的精度分析方法和柔性机器人的运动学和动力学研究相结合,建立了机器人的位姿误差分析模型。并依据所建模型,编制了基于Matlab 的Windows 应用程序。应用该程序可以对由任意n个连杆和旋转关节所组成的平面和空间机器人进行运动弹性静力分析和运动弹性动力分析,最终得到由机器人连杆的弹性变形所引起的机器人末端位姿误差,同时还可以计算由静态误差和关节柔性所引起的机器人末端位姿误差,并可以对多种因素所引起的机器人末端位姿误差进行综合,得到机器人的综合位姿误差。文中首先对由静态误差引起的机器人末端位姿误差作了分析,建立了机器人的静态位姿误差分析模型,并以斯坦福机器人为例作了实例计算。计算结果表明:角度参数的误差对机器人末端位姿误差的影响比较大,因此为了提高机器人的位姿精度,在设计和安装机器人时,应尽量减小机器人角度参数的误差。其次,应用有限元法和结构矩阵分析方法对机器人进行运动弹性静力分析和运动弹性动力分析,建立了分析由连杆柔性所引起的空间机器人末端位姿误差的通用模型,并编制了基于Matlab 的Windows 应用程序。该程序具有较强的通用性,适用于分析由机器人连杆的挠曲变形所导致的平面和空间机器人末端执行器的位姿误差。文中分别对一平面和空间机器人进行了实例计算,并和相关文献作了比较,结果表明:该误差分析模型是正确的,据此编制的Windows 应用程序的计算结果是可靠的。然后,分析了机器人位姿误差各种因素的影响。将各种因素统一归结为机器人的结构参量误差和运动变量误差,并把关节柔性的影响计入了机器人的运动变量误差之中加以考虑。为了考虑多种因素对机更多还原

【Abstract】 The analysis and synthesis of pose error of robots on the basis of accuracy analysis of rigid robots combining with achievements in research of flexible robots have been studied systematically. Combining accuracy analytical method of rigid robots with kinematics and dynamics, the analytical model of robot pose errors considering influence of robot link and joint flexibility, static error on robot end-effector pose accuracy has been developed. On the basis of established model and Matlab, Windows application is programmed. This software conducts kineto-elastostatic and kineto-elastodynamic analysis for planar and spatial robots consist of N robot links and rotating joints. A conclusion of robot end-pose error resulting from elasto-deformation of robot links, computing robot end-pose error resulting from static error and joint flexibility and robot end-pose error synthesis resulting from many kinds of factors has been drawn eventually. The robot pose error resulting from static errors has been analyzed firstly and the robot static pose error analytic model has been developed. Examples with Stanford robot indicate: angle parameter error influences largely on robot end-pose error. In order to improve robot pose accuracy, robot angle parameter error should be reduce when designing and installing robots. Secondly, by using matrix-structural method and the finite element method, kineto-elasto statics and kineto-elasto dynamics has been analyzed. Then the analytical model of spatial robot end-pose error resulting from robot link flexibility is established. Windows application is programmed on the basis of Matlab. This program is appropriate for planar and spatial robots end-effector pose error resulting from robot links defection. Comparing with documents, the simulation results of planar and spatial robots indicate: the error analytical model is feasible and Windows applied program is valid. Thirdly, all kinds of influencing factors of robot pose error are analyzed. These factors are attributed to robot structural and kinetic parameters. The joint flexibility is included in kinetic parameters. The synthetical influence on robot pose error is given in the example. The results indicate: all kinds of influencing factors on robot end-pose are included in this method. Finally, by using the kinematical programming, the compensation of robot end-pose errors resulting from various factors is studied. The simulation demonstrates that the proposed method can improve the accuracy of the robot trajectory tracking.更多还原