摘要
现代工业机器人普遍具有较高的重复定位精度,但是机器人的绝对定位精度比较低,现在市场上还没有机器人绝对定位精度的参考标准,机器人厂商一般给出的都是机器人重复性定位精度。机器人具有良好的重复定位精度是机器人具有精确绝对定位精度的基础。以GR625机器人为例,以伺服电机编码器分辨率和机器人D-H为影响因素,建立其重复定位精度数学模型,并通过Matlab数值仿真计算,得出结论:机器人前三轴的电机控制精度对重复定位精度影响较大,而后三轴对重复定位精度影响较小;D-H参数中d4和a2的大小对重复定位精度影响最大,其余尺寸影响较小。对机器人本体精度设计以及零部件制造公差要求,零部件装配公差要求具有重要的参考意义。
Most of the industrial robots today have a considerable repetitive positioning accuracy ,but absolute positioning accuracy. That is not have a reference standard of absolute positioning accuracy yet at present,and the manufacturer customarily just provide a repetitive positioning accuracy . A considerable repetitive positioning accuracy will be the foundation of A considerable absolute positioning accuracy for the industrial robots . Make robot Gree 625 an instance,this paper build the mathematic model base on the resolution ratio of the servo motor and the robot D-H preferences,educe the conclusion . The motor control accuracy of the former three axis of robot has a plurality effection on repetitive positioning accuracy,then the behind three axis of robot has a plurality effection on repetitive positioning accuracy . In the D-H preferences,d4 and a2 both have a plurality effection on repetitive positioning accuracy,and the last preferences have a insignificant effection. This conclusion has a significant consult meaning in the base accuracy design of robot,as well as the manufacture and assemble error tolerance of the accessory of industrial robots.
作者
张文欣
余杰先
冯晶晶
黄侠
ZHANG Wen-xin;YU Jie-xian;FENG Jing-jing;HUANG Xia(Gree Intelligent Equipment of Zhuhai Co.,Ltd.,Zhuhai 519070,China)
出处
《机电工程技术》
2019年第5期44-47,共4页
Mechanical & Electrical Engineering Technology
关键词
机器人
重复定位精度
D-H参数
正态分布
仿真
robot
repetitive positioning accuracy
D-H preferences
normal distribution
simulation
