工业机器人的转角误差对其位置精度的影响  

The Influence of the Angle Error of Industrial Robot on Its Position Accuracy

作　　者：钟森明 傅海桃 王志荣 ZHONG Senming;FU Haitao;WANG Zhirong

机构地区：[1]深圳职业技术学院机电工程学院,广东深圳518055 [2]深圳市计量质量检测研究院,广东深圳518055

出　　处：《计量与测试技术》2021年第6期14-17,21,共5页Metrology & Measurement Technique

基　　金：广东省市场监督管理局科技项目(项目编号:2020HBZ01)。

摘　　要：本文以工业机器人ABB IRB4600-60/2.05为研究对象,建立工业机器人的转角误差与机器人绝对位置精度的影响权重关系,并通过转角误差预测机器人工业机器人的绝对位置精度。实验验证过程利用Leica激光跟踪仪AT-960D对工业机器人进行测试与校准,并通过D-H模型逆解出工业机器人各旋转轴的转角误差,最后完成对工业机器人的绝对位置精度的预测验证。The paper takes the industrial robot ABB IRB4600-60/2.05 as the research object,establishes the influence weight relationship between the angle error of the industrial robot and the absolute position accuracy of the robot,and predicts the absolute position accuracy of the industrial robot through the angle error.In the experimental verification process,the Leica laser tracker AT-960 D was used to test and calibrate the industrial robot,and the rotation angle error of each rotating axis of the industrial robot was inversely solved through the D-H model,and finally the prediction and verification of the absolute position accuracy of the industrial robot was completed.

关 键 词：工业机器人 转角误差 绝对位置精度 

分 类 号：TG82[金属学及工艺—公差测量技术]