| 全方位装配机器人的刚度误差分析 |
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| 引用本文： | 叶长龙,万缯齐,于苏洋,姜春英. 全方位装配机器人的刚度误差分析[J]. 机械设计与制造, 2021, 0(4): 287-292. DOI: 10.3969/j.issn.1001-3997.2021.04.065 |
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| 作者姓名： | 叶长龙 万缯齐 于苏洋 姜春英 |
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| 作者单位： | 沈阳航空航天大学机电工程学院,辽宁 沈阳 110136 |
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| 基金项目： | 辽宁省自然科学基金重点项目 |
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| 摘 要： | 为了提高工作效率并节约劳动力,设计了一种可执行装配任务的全方位装配机器人,此机器人能在实际工程中执行一些简单的装配任务.为提高机器人在执行装配作业任务时的装配精度,对其刚度误差进行分析.根据机器人的结构特点并结合旋量理论对并联机构各支链进行建模,推导出机器人的刚度模型.通过仿真分析得出了支链长度以及载荷对系统刚度的理论...
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| 关 键 词： | 装配精度 刚度分析 旋量理论 误差分析 |
Stiffness Error Analysis of an Omni-Directional Assembly Robot |
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| YE Chang-long,WAN Zeng-qi,YU Su-yang,JIANG Chun-ying. Stiffness Error Analysis of an Omni-Directional Assembly Robot[J]. Machinery Design & Manufacture, 2021, 0(4): 287-292. DOI: 10.3969/j.issn.1001-3997.2021.04.065 |
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| Authors: | YE Chang-long WAN Zeng-qi YU Su-yang JIANG Chun-ying |
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| Affiliation: | (School of Mechatronics Engineering Shenyang Aerospace University,Liaoning Shenyang110136,China) |
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| Abstract: | In order to improve work efficiency and save labor,an omni-directional assembly robot that can perform assembly tasks is designed.The robot can perform some simple assembly tasks in actual engineering.In order to improve the assembly precision of robot in the execution of assembly tasks,the stiffness error is analyzed.According to the structural characteristics of the robot and the theory of screw,the branches of the parallel mechanism are modeled,and the stiffness model of the robot is derived.Through the simulation analysis,the theoretical influence of the length of the branch and the load on the stiffness of the system is obtained.The stiffness matrix is modified by combining experimental tests to obtain the error caused by the system stiffness under different attitudes.A detailed analysis of the causes of the error is presented,and an improved scheme for reducing the error is proposed. |
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| Keywords: | Assembly Accuracy Stiffness Analysis Screw Theory Error Analysis |
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