随着注塑成型的广泛应用,注塑机械手的应用范围也越来越广,主要包括模内外取件、取出产品后自动包装和模内埋入嵌件等.其中用于模内埋入嵌件的注塑机械手的定位精度要求较高,首先采用矩阵微分法建立静态误差模型,对全伺服注塑机械手进行静态位姿误差分析,得出注塑机械手的末端静态位姿误差与机械手的结构参数和运动变量之间的关系;然后利用摄动误差补偿法对机械手进行误差补偿,消除或减轻机械手末端的位姿误差,提高机械手末端执行器的定位精度.%With the wide application of injection molding ,the application scope of injection manipulator is more and more extensive ,including the inside and outside parts of the mould , the automatic packing of the product after being taken out and embedded inserts in the mold and so on .The positioning precision of the injection manipulator is more demanding .Firstly , establish the static error model using matrix differential method and analyze the static pose error of servo injection machines ,injection machines at the end of the relationship between the static structure parameters and the robot pose error and motion variables .Then ,the com-pensation of the manipulator is compensated by the perturbation error compensation meth-od .The position error of the end of the manipulator is eliminated or reduced ,and the positio-ning accuracy of the end effector of the manipulator is improved .
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