Dynamic And Static Error Analysis Of REBot-V-6R Robot

Accurate experimental results are derived from the high precision of the equipment.Accuracy is an important indicator of the equipment and equipment.The accuracy is generally expressed in the form of error.The size of the error is related to whether the work can be carried out normally and whether the collected data conforms to the actual situation.REBot-V-6R robot is a 6-DOF series robot,which mainly provides experimental data for lab students.According to different requirements,the hand can be disassembled to install the different functions of the end of the robot.Actuator,can be used for palletizing,welding,painting and other work.In order to improve the accuracy of the experimental data,the static and dynamic errors of the series robot are analyzed from the multi-factors,and the pose error analysis model of the robot is established.The main contents of this paper are as follows:Firstly,the structural parameters of the REBot-V-6R robot are introduced.The kinematics analysis of the robot is carried out based on the DH coordinate system method.The kinematics positive solution and the inverse solution are analyzed,and the working space of the robot is drawn by Matlab software.The Lagrangian equation is used to analyze the dynamics of the robot.Secondly,the three-dimensional modeling of the robot is carried out by using Solid Works software.The function of each joint of the robot is introduced and imported into Adams software.The kinematics and dynamics of the robot are simulated and the motion curve of the robot is analyzed and analyzed.Thirdly,the static error analysis of the robot end actuator is carried out,and the static error analysis model of the robot is established.The error graph is analyzed by Matlab software.The conclusion is drawn that the influence of angle parameter error on the pose error of the robot in this paper,the dynamic error of the robot caused by the link flexibility is established by using the finite element method and the structural matrix analysis robot,and the dynamic error of the robot is improved.The results show that the error of the angle parameter has a great influence on the pose error of the robot,and the greater the distance from the pedestal to the terminal pose error of the robot.