【摘要】 机器人位置精度分析的困难之处在于影响因素错综复杂,且交互作用。为此,本文提出影响因素分离法,它能把重复定位精度分析中单个影响因素的个体效应有效地从总体模型中分离出来,找出单个影响因素与重复定位误差之间的变化规律,为选择精度分析与综合的基准位姿及各关节运动精度的合理分配提供一定的依据。最后以5R 焊接机器人为例,介绍了整套分析方法在机器人精度分析中的应用。更多还原

【Abstract】 The difficulty in accuracy analysis of robot manipulators lies in the influence factors which are not only intricate but also interactive.The paper focuses its discussion on a method capable of separating the possible individual effect of each factor from the mathematical model of accuracy analysis,thus making it possible to find out the rule that governs the relationship between the individual factor and the repeatability error.The method offers a basis for choosing a typical position and orientation in error analysis and for rationally distributing kinematic accuracy to each related joint.Finally the theory is verified by applying the proposed method to the accuracy analysis of a 5R welding robot.更多还原