机器人关节间隙误差分析  

ERROR ANALYSIS OF ROBOT JOINT CLEARANCE

作　　者：宋月娥[1] 吴林[1] 戴明[1] 

机构地区：[1]哈尔滨工业大学现代焊接生产技术国家重点实验室,哈尔滨150001

出　　处：《机械工程学报》2003年第4期11-14,共4页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(59635160)

摘　　要：对关节间隙变量采用二维矢量表示法,分析了机器人关节间隙对机器人末端位置重复精度的影响。假设关节间隙随机性为某种分布,根据概率论建立了机器人末端点概率密度函数,从而得到机器人末端的误差分布函数。利用该方法对RHJD4-16自由度弧焊机器人关节间隙误差进行了分析,研究了关节间隙对空间机器人末端位置重复精度的不确定性影响情况,得到了关节间隙误差与机器人末端位置重复精度的约束关系,为机器人机构设计和机器人精度分析提供了理论依据。The effects of the joint clearance variables to the position repeatability of the robot end effector are analyzed using a two-dimensional vector method to define the joint clearance variables. According to the theory of probability, the probability density function of the robot end effector is developed based on the assumption of the distribution of the joint clearance randomness. And then error distribution function of the robot end effector is derived. The joint clearance error of RHJD4-1 6 DOF arc welding robot is analyzed by means of this method. The affects of the joint clearance to the uncertainty of the robotic position repeatability are outlined. And the restraining relation between the joint clearance and position repeatability of robot is given, which sets a theoretical foundation for the robot designing and precision analyzing.

关 键 词：机器人 关节间隙 重复精度 误差分析 末端位姿误差 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]