机器人机构精度综合的正交试验法

采用正交试验法综合机器人机构精度，只需要较少的计算仿真工作量就可分析出机器人定位误差，甚至不需要制造出具体的机器人物理样机。该试验方法可以缩短误差综合的计算过程，简化机器人误差综合。基于此，总结国内外有关机器人和空间机构精度研究，建立典型3R机器人的误差传递模型，利用正交设计表均衡排布各参数的误差水平，对各组试验结果进行方差分析，绘制某一复杂曲面任务下机器人末端的误差分布图和影响末端误差因素的显著程度顺序图。结果表明，正交试验法能够快速计算出当前目标点下误差因素对末端误差的影响显著程度，指导机器人精度设计和运动学参数的标定。

Orthogonal Experimental Design to Synthesize the Accuracy of Robotic Mechanism

Orthogonal experimental design is used to synthesize the accuracy of robotic mechanism, which not only requires less calculating time, but also discovers the whole error distribution. By using this simulating method, there is no need to manufacture the physical prototype of robot. On the other hand this novel method can reduce the work of synthesizing the accuracy of the robot and simplify the process. The historical literature in this respect is concluded, and the error model of 3R robot is set up. The error level of every factor is designed by using an orthogonal table. Every group of the testing experiments is analyzed. The error distribution map of the robot under a certain task with a complex surface and the significances of every kinematic factor are proposed. The significances at current configuration of all error factors can be easily calculated by using orthogonal experimental designing, which is helpful to design the accuracy and calibrating the kinematic parameters of the robot.