位置误差对关节式工业机器人末端精度的影响研究

摘要

由于关节式工业机器人零部件的加工误差及装配、安装的误差,导致机器人在运动中末端的执行精度不尽如人意.详细研究了机器人零部件的位置误差对末端精度的影响,可以为机器人零部件设计和制造公差的设置与优化提供重要的参考依据.%The articulated industrial robot, with the characteristics of being programmable, anthropomorphism and generalization, has been playing more and more important roles in many fields to replace human such as ma-chining, assembling, and transportation etc.However, the operation accuracy is off satisfactory due to the errors introduced in the robot manufacturing from design to installation.In this paper, it discusses the effect of the joint-position error to the end-accuracy of a robot in detail.This provides valuable reference for robot design and manufacturing in its tolerance setup and optimization.