工业机器人重复定位精度与不确定度研究-仪器科学与技术专业论文.docx

2 2 ABSTRACT This paper aims to study a method of 6-axis industrial robot positioning accuracy and repeatability uncertainty. Through the establishment of the robot kinematics model uses D -H model analysis, using the conversion relationship between D-H models derived for each robot axis coordinate system and the robot coordinate system and the end of the robot base coordinate system to analyze robot error model. Study of this paper are shown as follows: Load Impact Study repetitive positioning accuracy of the robot. Effect of different weight added to the end of the robot load repetitive positioning accuracy of the robot shaft 6, the load from the reasons for the departure of the robot to produce the error, the error model is theoretically deduced distal end of each robot axis between the mass of the load, and after experimental verification of the correctness of the errors of the model. point by some validation tests to verify the theory in line with the actual situation. Analysis of each axis robot axis beating case. Analyzed separately for each axis of the robot does not move the other axes of rotation, the rotation shaft runout. Through the establishment of axial runout model, found a simple and effective to reduce robot axis beating methods. Besides studied on different speeds, the relationship between the robot and the robot repeatability of positioning error running speed of each axis, the greater the robot run faster discovery robot repeatability positioning error, eventually choosing the right robot running speed provide a reference. Return error analysis robot robot positioning precision of repeatability. By measuring each axis robot reaches forward and reverse positioning errors during the same specified location, return error by compensating the robot makes repetitive positioning error of the robot from the previous compensation is reduced to ± 0.17mm ± 0.03mm, the robot repeat positioning accuracy is improved by more than 75%, which greatly improves th