六自由度串联机器人的运动误差分析  

Kinematic error analysis of a series robot with six degrees of freedom

作　　者：陈家林 杨红军 戢绍庭 肖博 孙飞虎 CHEN Jialin;YANG Hongjun;ZHE Shaoting;XIAO Bo;SUN Feihu(School of Mechanical Engineering,Wuhan Polytechnic University,Wuhan 430023,China)

机构地区：[1]武汉轻工大学机械工程学院,武汉430023

出　　处：《武汉轻工大学学报》2023年第5期106-113,共8页Journal of Wuhan Polytechnic University

基　　金：湖北省教育厅科技计划项目(B2019065)。

摘　　要：为研究运动误差对机器人定位精度的影响,以一款六自由度串联机器人为研究对象,运用DH法建立了运动学模型,并推导出正运动学方程;分析了误差来源,建立了误差分析模型;运用控制变量法分析了各运动参数误差对定位精度的影响。结果表明关节转角和连杆转角的误差为影响该六自由度串联机器人运动误差的主要因素。研究可为提高该六自由度串联机器人的定位精度提供建议和参考。In order to study the effect of motion error on robot positioning accuracy,a 6-DOF series robot was taken as the research object.The kinematics model is established by using DH method,and the forward kinematics equation is derived.The error source is analyzed,and the error analysis model is established.The control variable method is used to analyze the influence of motion parameter errors on the positioning accuracy.The results show that the errors of joint angle and connecting rod angle are the main influencing factors of the 6-DOF series robot.The research can provide suggestions and references for improving the positioning accuracy of the 6-DOF series robot.

关 键 词：串联机器人 运动误差 控制变量法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]