Based On The Robust Design Of Robot Accuracy Analysis And Design,

The theory of robust design is introduced to the manipulator design methods.According to the target of robust design, the three practical mathematical models, whichare fuzzy model and random model and error model are derived, followed by thetheories and modeling methods for three models discussed respectively.At the beginning, probability model of the position and attitude of manipulator isdeduced on the base of matrix transformation and the transformation theory fordifferential coefficient. Then on the base of various sources of error presented, thecovariance matrix is used to describe the standard tolerance to various components ofmanipulator position and attitude and the relativity of them. On the basis of the fuzzymathematics and the theory of robust design, the design for robot accuracy is discussed,considering not only the randomicity of machine error manufactured, but fuzzy affectingfactor of machine synthesis, so that the manipulator reliability is improved by the robustdesign. At last the formula of compensation for manipulator position and attitude ispresented.In the process of flexible manipulator accuracy, all kinds of influence factors are summed up to the error of robot structure and kinematical parameter. Considered synthetically robot tolerance of position and attitude which is caused by not only static error and joint flexibility but linkage flexibility, the robust method is presented for the robot error of position and attitude.This paper introduced the error sensitive index for evaluating the operating accuracy of parallel robots, which reflects the degree of the robot mechanism's solution for the original error. The model formula of parallel robot error, as well as manipulator accuracy synthesis is fulfilled based on the robust design of fuzzy model.