Research On Operating Precision Analysis And Synthesis Technology Of Dual-arm Robot

In recent years,with the increasing development of robot technology,dual-arm robots are widely used in the field of medical services,industrial production and aerospace,relying on its high reliability and strong collaboration capabilities.The operating precision of dual-arm robots is an important indicator of its working performance,which will determines the effect of the tasks execution.Therefore,the research on the operating precision has an important significance.There are many error sources which affect the operating precision.It is important to analyze the impact of these error sources on the operating precision and distribute the error limits of error sources reasonably for improving the operating precision.Based on this,this thesis carry out the research of operating precision analysis and synthesis technology.The study content is divided into the following areas:Firstly,the operating precision under the effect of a single error source is analyzed.Error sources are summarized which affect the operating precision,and divided into the geometric error sources and flexible error sources.The kinematics model of dual-arm robot is built based on MCPC method,and then the pose error mathematical model is derived under a single error source,which lays a good foundation for the operating precision analysis considering multiple error sources.Secondly,the operating precision under the effect of multiple error sources is analyzed.The comprehensive pose error model and relative pose error model are built.On this basis,the maximum pose error configuration of the robot is gotten by Genetic Algorithm,and this configuration is used for the probability analysis of operating precision based on the Monte Carlo algorithm.The result of probability analysis can verify whether the design of the manipulator meets the precision requirement and provide theory basis to distribute the error limits of error sources reasonably.Thirdly,the operating precision synthesis technology is studied.The minimum pose error and the minimum production costs are chosen for the optimization goals.The value of each error sources is the decision variables.The error ranges of each error sources is the constraint condition.The operating precision and production costs are reasonably optimized based on NSGA-? Algorithms,and the Pareto optimal solution set is obtained,which can meet the accuracy requirement of the robots and reduce the production costs.Finally,some experiments are done to evaluate the correctness of the operating precision analysis and synthesis technology.The error simulation is made by the ADAMS software,where the flexible body of connecting rods is built and other error sources are considered.Then the real terminal pose is gotten using the laser tracker and the real pose error can be obtained.The results of both experiments can be compared with the results obtained by the theoretical model,which can prove the correctness of the theoretical model.