全方位装配机器人的刚度误差分析  

Stiffness Error Analysis of an Omni-Directional Assembly Robot

作　　者：叶长龙 万缯齐 于苏洋 姜春英 YE Chang-long;WAN Zeng-qi;YU Su-yang;JIANG Chun-ying(School of Mechatronics Engineering Shenyang Aerospace University,Liaoning Shenyang110136,China)

机构地区：[1]沈阳航空航天大学机电工程学院,辽宁沈阳110136

出　　处：《机械设计与制造》2021年第4期287-292,共6页Machinery Design & Manufacture

基　　金：辽宁省自然科学基金重点项目(20170540704)项目名称:面向飞机零部件运输与装配的正交轮式全方位移动机器人运动规划研究。

摘　　要：为了提高工作效率并节约劳动力,设计了一种可执行装配任务的全方位装配机器人,此机器人能在实际工程中执行一些简单的装配任务。为提高机器人在执行装配作业任务时的装配精度,对其刚度误差进行分析。根据机器人的结构特点并结合旋量理论对并联机构各支链进行建模,推导出机器人的刚度模型。通过仿真分析得出了支链长度以及载荷对系统刚度的理论影响。结合实验测试对刚度矩阵进行修正,得出不同姿态下系统刚度引起的误差。详细分析误差的产生的原因,提出了减小误差的改进方案。In order to improve work efficiency and save labor,an omni-directional assembly robot that can perform assembly tasks is designed.The robot can perform some simple assembly tasks in actual engineering.In order to improve the assembly precision of robot in the execution of assembly tasks,the stiffness error is analyzed.According to the structural characteristics of the robot and the theory of screw,the branches of the parallel mechanism are modeled,and the stiffness model of the robot is derived.Through the simulation analysis,the theoretical influence of the length of the branch and the load on the stiffness of the system is obtained.The stiffness matrix is modified by combining experimental tests to obtain the error caused by the system stiffness under different attitudes.A detailed analysis of the causes of the error is presented,and an improved scheme for reducing the error is proposed.

关 键 词：装配精度 刚度分析 旋量理论 误差分析 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]