Design, Analysis And Calibration Of A Six-axis Small Articulated Robot

Industrial robots as an important carrier of intelligent manufacturing,which are facing great challenges in the rapid growth of market demand,With the popularization of automation,increasing enterprises are using industrial robots.The transformation of automation makes more and more enterprises utilize industrial robots.one of the most important contents in the research of the four core is the design of industrial robot,It is of great theoretical and practical significance to study the robot kinematics calibration in the background of the industrialization of the robot.The accuracy of industrial robots is divided into absolute positioning accuracy and r-epeat positioning accuracy,comparison between the two,the absolute positioning accuracy of the robot is lower than that of the repeat positioning accuracy,so it can not meet the accuracy of the robot in off-line programming.Nowadays,the operation of the robot off-line programming is increasingly universal,the require of the absolute positioning accurac y of the robot is improved,the robot calibration is the answer.According to the custom reducer and customer requirements of independent research and development of a six axis small and joint type industrial robot,through the solidworks software to establish the three-dimensional model of the solid robot,and then the corresponding simplification of the three-dimensional model is imported into the ADAMS software through the Parasolid format.The establishment of solid robot prototype,the constraint,defined the corresponding parameters,adding drivers on kinematic analysis,analysis of the end of the displacement,velocity and acceleration curve,The results show that the robot is stable under the corresponding conditions,and the robot body design is reasonable,then the dynamic analysis is carried out,and the torque diagram of each joint is obtained,to verify the reasonable selection of motor.According to the actual structure of the solid robot,the establishment of kinematics model by DH method to analysis of the kinematics of the robot,the solution of the forward and inverse solution of the robot is derived,the prototype was built by Matlab Robotics toolbox tool software,the pose of the input angle to get the initial robot position and a certain state,the position control panel is verified on the same angle of robot robot,verified is consistent with the pose parameters under two conditions,to verify the established model of the robot is correct.According to the characteristics of industrial robots,some factors which affect the absolute positioning accuracy of the robot are analyzed,apply MDH model to establish the coordinate system of the connecting rod and the differential equation based method is used to establish the error model of the robot,Matlab software is used to program the error model of the robot,given a set of kinematic parameters and error of robot theory,simulation to solve the robot,to verify the established the robot error model is correct.The robot calibration experiment is carried out by the direct measurement method of three coordinate measuring instrument,Based on the data obtained from the experiment,the parameters of the kinematic parameters of the robot are identified by the method of parameter identification matrix,The compensation is performed in the robot controller,then the compensation of the end position and attitude measurement and comparison,The absolute positioning accuracy of the robot is improved from the data comparison.