摘要
本文应用最优化技术进行机器人的精度综合,确定能满足绝对位姿精度和重复位姿精度要求并可使公差制造成本最低的最优连杆参数公差和关节伺服定位精度。在误差概率分析的基础上,建立了机器人机构精度概率优化综合的数学模型。并针对一个五自由度机器人,给出了其最优公差值。
In the design of an industrial robot, it is very important to reasonably allocate the tolerances in the linkage parameters and in the joint variables according to the absolute accuracy and repeatability accuracy of its hand pose (position and orientation). This paper intends to apply optimal technique to the above mentioned accuracy synthesis so as to determine the optimal robot tolerances, and minimize the manufacturing cost. On the basis of error probability analysis, a mathematic model for optimal accuracy synthesis of industrial robot has been established. For illustration, a 5R industrial robot is taken as a numerical example.
出处
《东南大学学报（自然科学版）》
EI
CAS
CSCD
1989年第1期53-60,共8页
Journal of Southeast University：Natural Science Edition
关键词
机器人
精度
概率
误差
优化
industrial robot, error, accuracy, optimal synthesis
