Research On Motion Accuracy Of Omni-directional Mobile Assembly Robot

In order to improve work efficiency and save labor,an omni-directional mobile assembly robot that can perform assembly tasks is designed.However,during the application process,it was found to have errors in performing assembly tasks.Among the various factors that produce errors,stiffness error is one of the key factors.For the stiffness error,it can be effectively reduced by performing stiffness analysis on it.Therefore,the stiffness error analysis of the robot is of great significance to the improvement of the accuracy of the robot.The overview of the robot was analyzed.Mechanism analysis,spatial freedom analysis,position inverse solution and workspace analysis were carried out.Through the above analysis,we have a certain understanding of the basic properties of the robot,which has laid a good foundation for the analysis of the following.Dynamic model is established for the spatial unit from the robot mechanism and the whole robot mechanism.The dynamic equations of the spatial unit are derived by analyzing the kinetic energy and deformation energy of the spatial element.Based on the dynamic equation of the space unit,the dynamic equations of each driving branch are deduced.The kinematic constraints and dynamic constraints of the robot are analyzed.The dynamic equations of the robot system are obtained and the dynamic equations are solved.The relationship between the force,damping,mass and speed of the robot is determined by dynamic analysis of the robot.The stiffness model of the robot is established by combining the screw theory,and the stiffness error of the robot is analyzed.Combined with the analysis results,the robot was analyzed and simulated,and the error caused by the stiffness of the system under different attitudes was obtained.After analyzing the analysis results,the stiffness error of the robot is still large,and the improvement of the accuracy of the robot is proposed.