[1]谭丹娜,薛焕然.换刀机器人位姿误差的研究[J].南京理工大学学报(自然科学版),1996,(02):47-50.
 Tan Danna Xue Huanran.Study on the Position and Orientation Error of Tool Exchange Robot[J].Journal of Nanjing University of Science and Technology,1996,(02):47-50.
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换刀机器人位姿误差的研究()
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
期数:
1996年02期
页码:
47-50
栏目:
出版日期:
1996-04-30

文章信息/Info

Title:
Study on the Position and Orientation Error of Tool Exchange Robot
作者:
谭丹娜薛焕然1
南京理工大学机械学院, ¹ 南京理工大学制造工程系, 南京210094
Author(s):
Tan Danna Xue Huanran ①
School of Mechanics, NUST, Nanjing 210094)
关键词:
机器人 位置 定向误差 精度
Keywords:
robot s hand posit ion o rientation err or accuracy
分类号:
TP242
摘要:
为保证换刀机器人和FMS的可靠运行,该文研究FMS中换刀机器人的位置和姿态误差问题,运用齐次变换矩阵和微分关系,建立描述机器人末端操作器——双手爪位姿误差的模型,详细分析影响手部精度的机器人各关节运动误差的来源及其统计特性,对整个换刀机器人的位姿误差进行综合分析,获得手部位姿误差的数值。为机器人的精度分配和评价机构设计提供依据,也给误差控制确立了基础。经过实际运行和测量,证实了位姿误差分析的正确性。
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.

参考文献/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

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备注/Memo

备注/Memo:
国防科技预研行业重点攻关基金项目
谭丹娜 女 39 岁 工程师
更新日期/Last Update: 2013-04-11