The Static Deviation Analysis And Preliminary Study On Dynamic Deviation Of Manipulator

With the development of science and technology and continuous improvement of human,the manipulator is developed gradually in human society. Based on manipulator as an object, thethesis analyses its accuracy from static deviation and dynamic deviation and comprehensivedeviation from various factors. The main content of this paper include：1、The kinematics is studied by M-DH model, on kinematics basis, manipulator staticdeviation model is bulit. Analysing manipulator static deviation influence produced by angledeviation, length deviation and every joint deviation, it shows that angle deviation had biggerinfluences on manipulator deviation, length deviation has no effect on manipulator deviation.Therefore, manipulator angle deviation should be cut in order to raise manipulator accuracy.2、The inertia force, centrifugal force and gravity are used as the external force, themanipulator system is considered as a static system. Manipulator flexibility is discussed byutilizing finite element method, manipulator dynamic deviation model is found. Building thedynamic deviation graph by Matlab which can discus influences of manipulator accuracy causedby angle deviation and every joint deviation, the above provides guidance for the design of highspeed and light manipulator.3、The influences on manipulator precision from static deviation and dynamic deviation issynthesize, and analysis of comprehensive deviation caused by a lot of factors is found, itdemonstrates that the influences from dynamic deviation is reduced by regulating the staticdeviation direction, so that manipulator precision is raised.4、Compensation analysis of comprehensive deviation produced by various factors isstudied, deviation compensatory model is established through applying perturbation deviationoffset and its principle. The simulation gets compensation quantity of movement variable andnew deviation values, the feasibility of the method is well tested.