Research On Error Sources Analysis And Dynamic Simulation Of 6-DOF Measurement Robot

Today, robot technology developed rapidly, the range of it's application also is gradually expanding. Measurement robots are generally used to complete high precision measurement, the accuracy of actions and movements to repeat the position requires high accuracy. With improvement of machining precision components and improved control components, measurement accuracy and the location of robot motion accuracy will be increased accordingly. But if only rely on these to improve the various aspects of the measurement accuracy , increase in speed will be restricted by many factors so as to quite slow. Therefore, based on existing level of technology, as much as possible improving accuracy in all aspects of robots in order to meet the requirements, we should focus on urgent problem.The object of this paper is the 6-DOF measurement robot which combines "the Tandem-based institutions of robot technology" and "the Measurement Technique". Exercise its motion analysis, error analysis and simulation.Firstly, through the structure of 6-DOF measurement robot, founding joints coordinate and analyzed robot by D-H model to get the coordinate transformation matrix of the robot joints, and complete the research of inverse problem of kinematics. This step laid the foundation for error analysis.Secondly, analyze the static error caused by the end of the robot pose error ,then through described the robot pose generalized coordinate, establish the robot static pose error analysis model along with calculate expression. In the end, calculation is carried through by the count of robot joints parameter and joints movement roles, get the pose generalized coordinate error chat of robot.Next, analyze the origin and infection of various factors which induce the robot pose error. Attributed to various factors unified structure for robot movement parameter error and error variables. Then the differential coefficient is used in deduce formula about various factors inducing the robot pose error. Afterward calculation is carried through when the date of robot poles and joints were taken into deduced formula. By calculating, the results showed that application of this method can be comprehensive analysis of various factors on the robot pose of the end.Finally, the measurement robot solid modeling was carry through by use SOLIDWORKS, then, the model is taken into ADAMS, lastly simulation was carried out by use ADAMS.