The Research Of Analysis And Optimization Of 6R Industrial Robot Terminal Error Of Time And Space Coupling

Industrial location precision of the robot terminal is the important parameters of performance evaluation.Under the coupling action of more error factors,which makes the robot terminal location accuracy is hard to maintain.Therefore to carry out the robot terminal position error of coupling analysis,to explore various error sources under the influence of mutual coupling,the influence law of industrial robot terminal location accuracy.According to the influence law pertinent to optimize the robot terminal position error,to improve the positioning precision of the our country domestic industrial mechanical arm has a guiding role.This topic is derived from the national natural science fund project(project number: 51375519).In this paper,the research content is as follows:1,Industrial robot terminal coupling error with the error factors on time scale and space scale error factors mutual coupling characteristics.In order to study the terminal coupling characteristics of error,HSR-JR612 industrial robot as an example,according to the error on time scale and space scale error of error separation of different properties.According to the error of the randomness of spatial scales,through the monte carlo method has carried on the forecast.For the dynamic error on the time scale,the terminal under different loads are analyzed in this.Based on error flow theory and D-H method to establish the robot terminal error dynamic space-time coupling model.2,Using MATLAB to process dynamic space-time coupling error of the industrial robot,the robot various error coupling element to the influence law of the terminal location accuracy.Hierarchical analysis theory to establish the space and time are optimized by the test error of coupling element contribution evaluation model,quantitative analysis of dynamic error of time and space coupling element contribution.Through calculation analysis,the various parameters that influence the robot terminal error of time and space coupling error contribution,for the robot terminal error optimization and compensation provides a scientific basis.3,In the terminal error of industrial robot coupling element contribution calculation,on the basis of intelligent algorithm is used to optimize impact on robot flexible error of large joints,improve the accuracy of performance.Based on the glowworm swarm optimization algorithm put forward time-varying glowworm swarm optimization algorithm(TVGSO),TVGSO according to all individuals within the territory of glowworm swarms and minimum distance change and time-varying step length,time-varying step principle than segmentation method based on gold,that the dynamic adaptability of algorithm.Introducing the selection mechanism,real-time dynamic adjustment direction and position,reduce the solving of selection pressure.Through the four test function simulation experiments prove that: TVGSO is simple and effective,good stability,high precision.Using time-varying glowworm swarm algorithm for robot joints,flexible variable error is optimized,the optimized results showed that the industrial robot terminal location precision and energy consumption were improved.4,HSR-JR612 industrial robots as a prototype the position accuracy of measurement.Using Dynalog development CompuGauge robot performance test system for measuring tools,measuring 10 groups before and after optimization target location error;Through the theory of numerical calculation results and test data were analyzed by physical test experiment conclusion,verifies the correctness of error coupling analysis and the feasibility of the optimization research.