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Research On Stiffness And Position Error Compensation Of Industrial Robots

Posted on:2020-02-05Degree:MasterType:Thesis
Country:ChinaCandidate:J J LiuFull Text:PDF
GTID:2428330596995248Subject:Mechanical engineering
Abstract/Summary:PDF Full Text Request
As an important equipment in the industrial production field,industrial robots have been widely used in industrial processing,assembly line sorting,welding and drilling.With the rapid development of China's manufacturing and service industries,the market has increasingly higher requirements for various aspects of industrial robots,especially for some high-precision processing sites,requiring robots with high enough positional accuracy.In view of the stiffness problem of robots,researchers use modeling and simulation methods to analyze and study them.In this thesis,a 6R rotary joint type tandem robot is used as a research tool to analyze the relationship between the stiffness index of the robot and the joint angle and the applied load,and to compensate the flexibility error caused by the applied load and its own gravity as the research target,and the running space of the robot and The influence of the joint angle on the stiffness index was simulated.The position error of the robot's end interface was measured by laser tracker.The regression analysis method was used to integrate the experimental data and fit the error in three coordinate directions.In relation to the applied load,the stiffness error model of the robot is finally solved and the corresponding position error is compensated.In order to study the relationship between the joint stiffness index of the industrial robot and the joint rotation angle,considering that the research of the robot stiffness and position error must be carried out in the robot's smart working space,the robot's running space is firstly carried out according to Monte Carlo simulation principle.Solve,use the Robotics Toolbox tool under Matlab,and write a program for the robot running space.The running program outputs the 3D set cloud map of the robot running space,the projection set cloud map of each coordinate plane and the cross section of the robot when the running space is the smallest.Then use SimMechanics tool to simulate the stiffness of the robot.The relationship between the stiffness index and the joint rotation angle of the robot under four different poses and different loads is studied.The relationship between the stiffness index and each joint rotation angle is studied.The effect of each joint of the robot on the stiffness of the robot can be seen.In order to compensate the position error of the robot end,a measurement experiment platform consisting of a laser tracker,a tracker target ball,a flange for mounting the target ball and a robot under test was designed to accurately measure the end position error of the industrial robot.The fitting method analyzes the flexibility error caused by the applied load on the three coordinate axes of the industrial robot,and analyzes the relationship between the position error at the end interface of the tested robot and the applied load.Finally,in order to compensate the position error of the robot end,the flexible error model of the industrial robot caused by the applied load and its own gravity is established,and the corresponding flexible error parameters are calculated.The method of correcting the error parameters in the robot controller is proposed to compensate the robot.The flexibility error compares the position parameters before and after compensation,which proves that this method is effective and summarizes the compensation results.
Keywords/Search Tags:industrial robot, stiffness analysis, simulation analysis, position error, error model
PDF Full Text Request
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