Research On The Relationship Between The Industrial Robot Accuracy And Wrist Load

With the development of industrial technology, the scope of applications forindustrial robots is getting wider and wider. However, the current industrial robots’absolute precision level of pose is so low that they are insufficient for some occasionswhich require higher precision level. Therefore, improving industrial robots’ absoluteprecision of pose is urgent for expanding their application field.A set of FANUC M-10iAe industrial robot is taken as the research object here.Through analyzing the error factors that influence the robot positioning accuracy, thedissertation focuses on load factors which affect the positioning accuracy in handling,assembly and other application occasions, and investigates the correlations between thepositioning accuracy and the loads attached to robot wrist. On this basis, the dissertationalso attempts to reveal their quantitative correlation.The dissertation elaborates the related research of industrial robot accuracy and errormeasurement methods, as well as the structure characteristic of FANUC M-10iAe robot,and presents initial theoretical value of the link parameters. Through the analysis of theexperimental system, the terminal experiment device, position measuring instrumentand support of industrial robot positioning accuracy measurement experimental deviceare analyzed and designed systematically. The dissertation simulates the whole systemto ensure the feasibility of the device. Motion experiment procedure of FAUNCindustry robot is programmed according to the experiment scheme. After installationand debugging of the experimental device, the system collects large number ofexperimental data. Those data provide data support for later analysis. According to thecharacteristics of the experimental data, the dissertation selects MATLAB as the dataanalysis software and presents the calculation method of positioning error. Throughfitting positioning error and wrist load by the least square method of regression analysis,the linear regression equation. Further experiments validate the correctness of theregression equation and lay the foundation for the next calibration work.