燕山大学学报2024，Vol.48Issue(1)：19-29,38,12.DOI:10.3969/j.issn.1007-791X.2024.01.003
混联机器人关节间隙误差建模及其定位精度可靠性分析
Joint clearance error modeling and positioning accuracy reliability analysis of hybrid robot
摘要
Abstract
The reliability of robot end positioning accuracy is an important index to measure its accuracy performance.Joint clearance is one of the main factors affecting robot positioning accuracy,and establishing an accurate robot positioning accuracy error model is a prerequisite for reliability analysis.In order to investigate the influence of the random uncertainty of the spatial joint clearance on the positioning error of a hybrid robot containing a closed chain mechanism.A hybrid robot positioning accuracy error model considering joint gaps is proposed using spinor theory and the D-H parameter method.To quantify the uncertainty of the gap model parameters according to the constraints of the joint gap model parameters and to establish a reliability model for the positioning accuracy of the hybrid robot.The bivariate dimensionality reduction method and saddlepoint approximation method are used to fit the probability density function of the robot's uni-coordinate positioning error to achieve hybrid robot positioning accuracy reliability analysis.The accuracy and engineering applicability of the proposed model are verified by taking a construction robot containing a parallelogram closed-chain mechanism as an example,and the results show that the proposed method greatly improves the efficiency compared with the traditional Monte Carlo method.关键词
混联机器人/定位精度/关节间隙/不确定性/可靠性分析Key words
hybrid robot/positioning accuracy/joint clearance/uncertainty/reliability analysis分类
信息技术与安全科学引用本文复制引用
郭天宇,张德权,吴锦辉,周鹏飞,孟原..混联机器人关节间隙误差建模及其定位精度可靠性分析[J].燕山大学学报,2024,48(1):19-29,38,12.基金项目
国家自然科学基金重点资助项目(U20A20283) （U20A20283）
国家自然科学基金青年基金资助项目(51905146) （51905146）
河北省重点研发项目(19211808D) （19211808D）
