【摘要】 针对国家标准GB/T 12642-2013《工业机器人性能规范及其试验方法》中没有规定计算位置轨迹准确度时构造多少正交平面和应该放置它们的位置问题,以及测量点与实际点的映射等问题,采用激光跟踪系统,对史陶比尔TX200工业机器人在10%负载、10%运动速度下直线运动轨迹位置误差进行了测量计算。据此提出了3种直线轨迹位置误差计算方法,用于评价工业机器人直线运动轨迹位置精度性能,并对后期机器人位置误差补偿提供了有效的理论依据。研究结果表明:3种方法都可以比较精确地对直线运动位置误差进行计算评估。更多还原

【Abstract】 Aiming at the national standard GB/T 12642-2013 "industrial robot performance specifications and test methods", there is no provision for how to construct the orthogonal planes and the position where they should be placed when calculating the accuracy of the positional trajectoryand mapping of measurement points to actual points, etc., the linear trajectory position error of the industrial robot St?ubli TX200 under 10% load and 10% moving speed was measured and calculated by using the laser tracking system. Three calculation methods for linear trajectory position error were proposed to evaluate the positional accuracy of the linear motion trajectory of the robot, and a theoretical basis for the position error compensation of the late robot was provided. The results indicate that the three methods cancalculate andevaluate the linear position error accurately.更多还原