The Static And Dynamic Error Model Analysis Of High-speed SCARA Industrial Robot

In this paper. To the SCARA robot as an example, with high speed and high precision as the research target, analyzes the current research at home and abroad, establish the error model using the screw theory, specific researches as follows:Analysis the error sources influence the precision on industrial robot's end actuator, various influence factors of the accuracy are concluded to the static error and dynamic error, and then to establish the error model. Given two practical application conditions space curve, as the target track of industrial robots, according to the industrial robot inverse kinematics work out of the rotation angle of each joint, establish positive kinematic model of industrial robot. In matlab simulation in the theory of space motion trajectory of industrial robot.Based on an analysis of influence caused by the structural error and transmission error, we build a pose error model of industrial robots with screw theory. After the error parameters which influence the static error of robot are expressed by two dimensional discrete variable, error space of the end-executor's track of robot are made. Position error of the end-executor "s which influenced by the error sources are analysed by comparision of difference.If regarding the inertia force of the robot system as the external force, the robot system will become a static system. The rigidity can be analyzed using the screw theory, then we establish the dynamic error modle which is caused by the inertia force and gravity. In matlab analysis of flexible deformation of the pole at the end executor's accuracy.Results show that static error can be reduced through controlling the error direction of the structure error in the industrial robot design and manufacturing assembly process, this will provides an effective theoretical support for the design of industrial robots with different accuracy requirements.