Evaluation And Research On The Operational Capability Of Series Four-axis Robot

Six degrees of freedom series robot complex structure,high cost,in the implementation of handling,spraying,welding and other industrial tasks processes,the movement function is redundant.The four-axis robot can meet the requirements of most operational tasks in the industrial environment,but the systematic research on the ability of the four-axis robot has not been reported.In order to reveal the operational capability and application scope of the four-axis robot objectively,it is of great significance to guide the industrial robot user's correct selection and plan the industrial robot industry.In this paper,the four-axis robot in the process of speed,acceleration and the end of the implementation of the pose error problem research,the establishment of the evaluation index and quantitative processing.Taking the PUMA560 robot and the ER6-C604 robot as the object,the performance of the ER6-C604 four-axis robot is evaluated on the basis of the operational capability of the PUMA560 robot.The main research contents and research methods are as follows:(1)The movement process of the series robot is analyzed in detail.The D-H parameter method is used to establish the coordinate system of the series robot.The positive kinematics model of the series robot is established by the homogeneous transformation matrix.And calculate the inverse of the PUMA560 robot and the ER6-C604 robot,which provides a theoretical basis for the subsequent robot motion simulation experiment.(2)On the basis of positive inverse kinematics model,the first-order and second-order influence coefficient matrix is used to study the motion of the series robot,and the velocity and acceleration evaluation index are used to carry out kinematics analysis.The structural parameter error and motion Variable error caused by the concatenation of the end of the robot terminal pose error analysis,the establishment of the series of static pose error model of the robot.And put defined the evaluation index of robot accuracy error.(3)The operation of industrial robots is mainly welding,cutting,spraying,etc,analysis of the operation process,completed the robot trajectory planning.The industrial trajectories of PUMA560 robot and ER6-C604 robot were simulated by MATLAB software,and the experimental results were processed.The evaluation matrix of the series robot is established,and the operation ability of the two robots is analyzed,which can provide reference for the enterprises to select the robot.(4)Based on the kinematics of the robot,a mathematical model is established to reflect the flexibility index.The optimal search model is used to solve the service coefficient,and the service coefficient is used as the evaluation index of its flexibility.The main innovation is to use the contrast method to analyze the working ability of the four-axis robot,and to set up the evaluation matrix and quantize the three main parameters of velocity,acceleration and attitude accuracy,so providing reference for the user to select the robot.