三轴正交机器人运动误差的建模与分析

借助齐次坐标变换法建立了三轴正交机器人运动误差的模型,给出了实际运动轨迹和目标位置的关系。首先,只考虑坐标轴安装不准确引入的垂直度误差;然后添加上直线度、偏转角、定位误差共计21项形位公差;最后再加上坐标轴弹性形变引入的误差。介绍了获取建立模型所需的参数的方法,计算出机器人的真实运动轨迹的包络面。经过仿真计算,x、y、z方向的最大运动误差分别是 1.7 mm、 1.0 mm,、0.4 mm。通过实验验证了计算结果和模型的可行性。

Modeling and Analysis of Movement Error of Three Axis Orthogonal Robots

The movement error model of three axis orthogonal robots was built based on homogeneous transformation. The relationship between the actual movement trace and target location was given. First perpendicularity error due to improper installation was included in the model. Then straightness, deflection angle and positioning error were taken into account. Finally elastic deformation was also calculated in the model. In addition, the methocl to acquire the needed parameter of the model was introduced, making it possible to calculate the movement trajectory of robots. Numerical simulations showed that the maximum movement error in x, y, z direction is 1.7 mm, 1.0 mm, 0.4 mm respectively. Experiments verified the effectiveness of the model and calculation.