基于旋量理论的打磨机器人位置精度分析

摘要

In order to establish mapping relationship between allerror sources and the position errors of the polish robot end-effec-tor, kinematics model of the polishing robot was established based on screw theory. The possibleproduced main sources of errors were analyzed. By mean of the geometric relationship between the sources of the errorsto establish the error screw, the static error model was obtained. The analysis work was done about the impact of the individual errors on the robot end-effector position error and a significant impact on the end position errorby all error sourcesto provide precision reliable analytic reference for the proposed optimization program. The analysis results show that the structure of errors and transmission errors are the main factors of impact on the robot static position accuracy, in which the structure errors are steady stateerrors, that can be reduced or compensated by the precision design, and trans-mission errors is required to solve by the latter calibrate program.%为建立各误差源与打磨机器人的末端位置误差的对应关系，在基于旋量理论建立了打磨机器人的运动学模型的同时，对可能产生的主要误差源进行了分析，通过误差源之间的几何关系建立误差旋量，从而得到静态误差模型；分析了各单项误差对机器人末端执行器位置误差的影响及各误差源对末端位置误差的显著性影响，为机器人精度优化方案的提出提供可靠的分析参考。分析结果表明：结构误差及传动误差是机器人静态位置精度的主要影响因素，其中结构误差为稳态误差，可以通过精度设计减小或补偿，传动误差需要通过后期的标定来解决。