Reseach On The Repeatability And Uncertainty Of Industrial Robots

This paper aims to study a method of6-axis industrial robot positioning accuracy andrepeatability uncertainty. Through the establishment of the robot kinematics model uses D-Hmodel analysis, using the conversion relationship between D-H models derived for each robot axiscoordinate system and the robot coordinate system and the end of the robot base coordinate systemto analyze robot error model.Study of this paper are shown as follows:1. Load Impact Study repetitive positioning accuracy of the robot. Effect of different weightadded to the end of the robot load repetitive positioning accuracy of the robot shaft6, theload from the reasons for the departure of the robot to produce the error, the error model istheoretically deduced distal end of each robot axis between the mass of the load, and afterexperimental verification of the correctness of the errors of the model. point by somevalidation tests to verify the theory in line with the actual situation.2. Analysis of each axis robot axis beating case. Analyzed separately for each axis of the robotdoes not move the other axes of rotation, the rotation shaft runout. Through the establishmentof axial runout model, found a simple and effective to reduce robot axis beating methods.3. Besides studied on different speeds, the relationship between the robot and the robotrepeatability of positioning error running speed of each axis, the greater the robot run fasterdiscovery robot repeatability positioning error, eventually choosing the right robot runningspeed provide a reference.4. Return error analysis robot robot positioning precision of repeatability. By measuring eachaxis robot reaches forward and reverse positioning errors during the same specified location,return error by compensating the robot makes repetitive positioning error of the robot fromthe previous compensation is reduced to±0.17mm±0.03mm, the robot repeat positioningaccuracy is improved by more than75%, which greatly improves the accuracy of the robotpositioning.5. Research robot end positioning uncertainty. Through the establishment of the robot endpositioning uncertainty enveloping the ball to evaluate the reproducibility of positioningaccuracy of the robot...