Analysis And Experimental Research Of Pose Error Of 6R Serial Robot On Rigid-flexible Coupling

With the rapid development of industrial technology,6-DOF serial robot has been widely used in various industrial domains,improved production efficiency greatly.Currently,6-DOF serial robot of the market repeated positioning accuracy on the can guarantee within 0.1 mm,but absolute positioning accuracy is generally more than 1 mm,this accuracy level has been gradually unable to meet the requirements of the development of modern industry.So study the pose errors and improve absolute positioning accuracy of robots become an important subject in the development of robot technology,has very important practical significance.This thesis elaborates the research status of 6-DOF serial robot pose errors factors influencing and error compensation technology.FANUC M-6i B as the research object,the kinematics model of the robot is established by DH rule,on the basis of the robot pose error model to analyze the effects of kinematics and structural parameters on the effect of the robot pose error,and then using MATLAB toolbox robot(Robotics Toolbox)established numerical simulation model of the robot,complete robot trajectory planning based on the actual tasks.Using Solid Works,ANSYS and ADAMS to build rigid-flexible coupling dynamics model of the robot and co-simulation,simultaneously consider joint and link flexibility,analysis of the running track,speed and acceleration,the end of the load change effect on the accuracy of the robot end position,get the simulation error.Experiment by utilizing FANUC M-6i B robots and self-designed experimental device,the experimental error and simulation error was subjected to comparative analysis.On the above several factors causing the pose error of coupling and developing comprehensive error calculation interface of robot which is influenced by multiple factors by using VS software.Finally,MATLAB programming is used to evaluate the accuracy of the robot trajectory parameters,the results are analyzed to lay the foundation for improving the trajectory accuracy.Experimental error and simulation error comparative results show that the use of rigid-flexible coupling dynamics model to simulate the robot end-error has good reliability.The error compensation of the robot by using the error value obtained by the error calculation interface can greatly reduce the error caused bythe change of the running speed and the acceleration and the terminal load,it has certain practicability.