关节式同步带减速机械臂运动误差分析及优化  

Kinematic Error Analysis and Optimization of Joint Synchronous Belt Deceleration Manipulator

作　　者：陈泽航 陈小锋 赵江铭[1] CHEN Zehang;CHEN Xiaofeng;ZHAO Jiangming(School of Mechanical and Power Engineering,Zhengzhou University,Zhengzhou 450001,China;Suzhou UB Precision Co.,Ltd.,Suzhou 215000,China)

机构地区：[1]郑州大学机械与动力工程学院,郑州450001 [2]苏州优备精密智能装备股份有限公司,苏州215000

出　　处：《组合机床与自动化加工技术》2025年第2期69-74,共6页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：科技部创新方法工作专项项目(2019IM010400-03)。

摘　　要：常规多电机驱动关节机械臂成本昂贵,且用于液晶面板老化检测工况存在自由度冗余问题。因此,综合成本效益考虑,提出一种单电机驱动的关节机械臂。为提高机械臂末端运动精度,通过建立虚拟样机模型,对关节、臂杆、同步带三大主要柔性传动因素对末端运动精度的影响进行主因素分析。针对同步带柔性主因素及其设计参数特点,采用正交试验及响应面法结合的分层优化方法实现参数寻优,并对优化前后末端运动位移误差进行分析。结果显示,优化后机械臂末端Z向位移误差由29.976 mm减小至7.475 mm,结果表明了所设计的低成本关节式同步带减速机械臂在提高末端运动精度的优化可行性,对中小型液晶面板生产企业提高生产效益具有参考价值。Conventional multi-motor driven articulated robotic arms are costly and exhibit redundant degrees of freedom when used for aging inspection of LCD panels.Therefore,considering cost-effectiveness,a single-motor driven articulated robotic arm is proposed.To enhance the end-effector′s motion precision,a virtual prototype model was established to analyze the primary factors affecting motion accuracy related to the joints,arm rods,and timing belts,which are the main flexible transmission elements.Focusing on the flexibility of the timing belt and its design parameters,a layered optimization method combining orthogonal experiments and response surface methodology was used to optimize these parameters.An analysis of the end-effector′s motion displacement error before and after optimization was conducted.The results showed that the end-effector′s Z-direction displacement error was reduced from 29.976 mm to 7.475 mm,demonstrating the feasibility of optimizing the designed low-cost articulated synchronous belt reduction robotic arm to improve end-motion precision.This has potential reference value for enhancing production efficiency in small and medium-sized LCD panel manufacturing enterprises.

关 键 词：关节臂 运动精度 正交试验 响应面法 

分 类 号：TH122[机械工程—机械设计及理论] TG659[金属学及工艺—金属切削加工及机床]