3-PUU并联机器人误差建模及仿真验证
首发时间:2019-05-22
摘要:并联机器人虽然有着精度较高、刚度较好、承载能力较强的特点,但是随着社会工业、制造业的快速发展,各行各业的行业标准以及要求越来越严格,直接加工装配出来的机器人末端执行器位置精度根本达不到标准要求。为了提高机器人的精度,根据机器人的本身机构运动学模型,罗列出可能造成机器人末端位置误差的所有误差源,求解出误差雅可比矩阵,然后通过全局灵敏度分析出误差源影响程度,通过ANSYS和ADAMS仿真软件对机器人的所有误差源进行分析,以及柔性化分析,并在ADAMS种将机器人所有构建进行参数化分析,通过分析,得出影响机器人末端位置误差影响程度,与灵敏度模型对比验证。可以对机器人自身零部件的加工要求,以及部分零部件的安装要求具有参考意义。
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Error Analysis and Simulation Verification of 3-PUU Parallel Robot
Abstract:Although parallel robots have the characteristics of high precision, good stiffness and strong bearing capacity, with the rapid development of social industry and manufacturing industry, the industry standards and requirements of all walks of life are becoming more and more stringent, and the position accuracy of end-effectors directly processed and assembled by robots can not meet the standard requirements at all. In order to improve the accuracy of the robot, according to the kinematics model of the robot\'s own mechanism, all the error sources which may cause the position error of the robot\'s end are listed, and the error Jacobian matrix is solved. Then the influence degree of the error sources is analyzed by global sensitivity. All error sources of the robot are analyzed by ANSYS and ADAMS simulation software, and the flexibility analysis is carried out. ADAMS parameterized all the construction of the robot. Through analysis, the degree of influence on the position error of the end of the robot was obtained, which was verified by comparison with the sensitivity model. It can be used as a reference for the processing requirements of robot parts and the installation requirements of some parts.
Keywords: Error Jacobian Parameterization Sensitivity Flexibility Error
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