基于刚柔耦合建模的6R机器人位置误差分析与实验研究

发布时间：2019-01-11 13:46

【摘要】：随着工业技术的飞速发展,六自由度串联机器人已被广泛应用于各种工业生产中,极大地提高了企业的生产效率。目前市场上存在的六自由度串联机器人的重复定位精度基本可以保证在0.1mm以内,但是绝对定位精度一般都超过1mm,这样的精度水平已不能满足现代工业的发展要求。因此研究机器人的位置误差以及提高其绝对定位精度已成为现阶段一个非常重要的课题,具有重要的现实意义。本论文详细介绍了六自由度串联机器人位姿误差影响因素及误差测量技术的研究现状;以FANUC M-6i B六自由度串联机器人为研究对象,运用DH法则对其进行运动学建模并在其基础上建立机器人位姿误差模型,分析机器人DH参数发生微小偏差对机器人位姿误差的影响,然后利用MATLAB机器人工具箱(Robotics Toolbox)建立机器人的数值仿真模型,基于机器人的实际工作任务对其进行轨迹规划;利用SolidWorks、ANSYS和ADAMS软件建立机器人的刚柔耦合动力学模型并进行联合仿真,在同时考虑关节柔性和连杆柔性的前提下分析运行轨迹、速度和加速度、末端载荷变化对机器人末端定位精度的影响,得到仿真误差;利用FANUC M-6i B机器人和自行设计的实验装置进行实验,将得到的实验误差与仿真误差进行对比;对上述几种因素造成的位置误差进行耦合并利用VS软件开发受多因素影响的机器人综合误差计算界面,根据误差计算得出的综合误差值对目标机器人进行误差补偿。最后还利用MATLAB编程计算评价机器人运动轨迹精度的参数,并对计算结果进行分析为后续提高轨迹精度奠定基础。实验误差与仿真误差的对比结果表明利用刚柔耦合动力学模型模拟计算机器人末端误差具有较好的一致性。利用误差计算界面得出的综合误差值对机器人进行误差补偿可以较大幅度的降低由运行速度和加速度、末端负载等因素变化造成的误差,具有一定的实用性。
[Abstract]:With the rapid development of industrial technology, six-degree-of-freedom series robot has been widely used in various industrial production, greatly improving the production efficiency of enterprises. At present, the repeated positioning accuracy of the six-degree-of-freedom serial robot in the market can be basically guaranteed within 0.1mm, but the absolute positioning accuracy is generally more than 1mm. This precision level can not meet the requirements of the development of modern industry. Therefore, the research on the position error of robot and the improvement of its absolute positioning accuracy have become a very important subject at the present stage, and have important practical significance. This paper introduces in detail the influence factors of position and attitude error and the research status of error measurement technology of six-degree-of-freedom series robot. Taking FANUC M-6i B six-degree-of-freedom series robot as the research object, the kinematics model of FANUC M-6i B six-degree-of-freedom serial robot is modeled by using DH rule and the pose error model of the robot is established on the basis of the model. This paper analyzes the influence of the small deviation of robot DH parameters on the robot pose error. Then the numerical simulation model of the robot is established by using MATLAB robot toolbox (Robotics Toolbox), and the trajectory planning is carried out based on the actual working task of the robot. The rigid-flexible coupling dynamic model of the robot is established by using SolidWorks,ANSYS and ADAMS software, and the joint simulation is carried out. The trajectory, velocity and acceleration of the robot are analyzed under the premise of considering the flexibility of the joint and the flexibility of the connecting rod at the same time. The effect of the end load change on the positioning accuracy of the robot end is obtained, and the simulation error is obtained. Using FANUC M-6i B robot and the self-designed experimental device, the experimental error is compared with the simulation error. The position errors caused by the above mentioned factors are coupled and the synthetic error calculation interface of the robot affected by many factors is developed by using VS software. The error compensation of the target robot is carried out according to the synthetic error value obtained from the error calculation. Finally, the parameters of robot trajectory accuracy are calculated and evaluated by MATLAB programming, and the results are analyzed to lay a foundation for further improvement of trajectory accuracy. The comparison between the experimental error and the simulation error shows that the simulation of the robot end error by using the rigid-flexible coupling dynamic model is in good agreement. Using the error calculation interface to compensate the robot error can greatly reduce the error caused by the change of running speed acceleration and terminal load and so on. It has certain practicability.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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