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Study on the Position and Orientation Error of Tool Exchange Robot(PDF)

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

Issue:
1996年02期
Page:
47-50
Research Field:
Publishing date:

Info

Title:
Study on the Position and Orientation Error of Tool Exchange Robot
Author(s):
Tan Danna Xue Huanran ①
School of Mechanics, NUST, Nanjing 210094)
Keywords:
robot s hand posit ion o rientation err or accuracy
PACS:
TP242
DOI:
-
Abstract:
T o ensure reliability serv ice of too l ex change robot and FMS, the posit ion and orientat ion erro r of too l ex change robot in the FMS is investig ated in this paper . First , the err or mo del of gripperps po sit ion and o rientation is dev elo ped w ith the method of homog eneous mat rix and dif ferential r elat ionship. Second, all jo int error s that af fect positio n and orientat io n of gripper and their statistical behavio rs are analyzed. Based on analyzing and calculating the kinematic error of each jo int , the synthesis o f all r obo t posit ion and orientat ion er ror is performed, and the value of err ors ar e o btained. The er ror invest igat ion pr ovides a basis for accuracy allo cat io n, evaluat ion o f mechanical desig n, and error co nt rol . T he presented analysis method is verified by exper iment s and measuring.

References:

1 Gao D. Stat istical char acter istics of ro bot accuracy and repeatability in w o rkspace . In: Pr oceedings of t he 1990 ASME Desig n Technical Co nferences. New Yo rk: ASM E, 1990. 91~ 97
2 张伯鹏. 机器人工程基础: 北京: 机械工业出版社, 1987. 105~120
3 叶琪根. 机构精确度. 西安: 西北电讯工程学院出版社, 1986. 87~90
4 程光仁. 滚珠螺旋转动基础. 北京: 机械工业出版社, 1985. 233~244

Memo

Memo:
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Last Update: 2013-04-11