基于LR20机器人的最大工作空间分析与试验研究  

Analysis and Experimental Research on Maximum Workspace Based on LR20 Robot

作　　者：占加林 朱华炳[3] 张作胜[1] 周福静 ZHAN Jialin;ZHU Huabing;ZHANG Zuosheng;ZHOU Fujing(School of Mechanical Engineering,Anhui Vocational and Technical College,Hefei 230011,China;Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China;School of Mechanical Engineering,Hefei University of Technology,Hefei 230009,China)

机构地区：[1]安徽职业技术学院智能制造学院,合肥230011 [2]南京航空航天大学,南京211106 [3]合肥工业大学机械工程学院,合肥230009

出　　处：《长春工程学院学报（自然科学版）》2023年第4期32-39,共8页Journal of Changchun Institute of Technology：Natural Sciences Edition

基　　金：安徽省高校自然科学研究重点项目(2022AH052063);安徽省省级质量工程项目(2022kcsz156);安徽省高校自然科学研究项目(KJ2021A1446)。

摘　　要：针对LR20机器人在ISO 9283标准性能指标测量过程中存在的问题,推算出LR20机器人的最大工作空间,根据实际工况要求,进一步优化了最大立方体,寻求出五点法的空间位置。借助Leica激光跟踪仪、RoboDyn和Spatial Analyzer软件,搭建了机器人标定试验平台,对LR20机器人D-H参数进行校准,最后对5个测试点开展循环采集。结果表明,五点精度数值稳定,能够代表LR20机器人工作区域的整体精度状态,绝对定位精度达到0.85 mm,重复定位精度提高到0.028 mm,验证了最大立方体工作原理和试验方案的可行性,为工业机器人标定研究和企业测试应用提供参考。In response to the problems in the measurement process of the performance indicators of the LR20 robot in the ISO 9283 standard,the maximum workspace of the LR20 robot is calculated.Based on the actual working conditions,the maximum cube is further optimized and the spatial position of the five point method is sought.With the help of Leica laser tracker,RoboDyn,and Spatial Analyzer software,a robot calibration test platform is established to calibrate the D-H parameters of the LR20 robot,and five test points are cyclically collected finally.The results show that the five point accuracy values are stable and able to represent the integral accuracy status of the LR20 robot's working area.The absolute positioning accuracy reaches 0.85 mm,and the repeated positioning accuracy increases to 0.028 mm.It verifies the feasibility of working principle and experimental scheme of the maximum cube,provides references for industrial robot calibration research and enterprise testing applications.

关 键 词：ISO 9283标准 LR20机器人 最大立方体 激光跟踪仪 重复定位精度 

分 类 号：TH122[机械工程—机械设计及理论]