本文選題：工業(yè)機(jī)器人 + 運(yùn)動(dòng)學(xué)模型�。� 參考：《天津工業(yè)大學(xué)》2017年碩士論文

【摘要】：隨著工業(yè)機(jī)器人應(yīng)用領(lǐng)域的不斷擴(kuò)大及其技術(shù)的不斷發(fā)展,工業(yè)生產(chǎn)中對(duì)機(jī)器人的性能要求也越來(lái)越高,尤其是高精度的工業(yè)機(jī)器人。精度作為評(píng)價(jià)工業(yè)機(jī)器人性能的重要指標(biāo),而評(píng)價(jià)工業(yè)機(jī)器人精度的主要指標(biāo)有兩個(gè),重復(fù)定位精度和絕對(duì)定位精度。目前,工業(yè)機(jī)器人的重復(fù)定位精度普遍具有較高的重復(fù)定位精度,但其絕對(duì)定位精度還不能滿足一些工業(yè)生產(chǎn)的需求。因此,探索找到一種提高機(jī)器人絕對(duì)定位精度的方法是提高工業(yè)機(jī)器人性能的關(guān)鍵技術(shù)之一。本文通過(guò)對(duì)六自由度工業(yè)機(jī)器人的結(jié)構(gòu)進(jìn)行研究,分析六自由度工業(yè)機(jī)器人的運(yùn)動(dòng)學(xué)特點(diǎn)。創(chuàng)新的利用高精度拉繩編碼器建立標(biāo)定平臺(tái),應(yīng)用運(yùn)動(dòng)學(xué)標(biāo)定的方法提高工業(yè)機(jī)器人的絕對(duì)定位精度,使其滿足工業(yè)生產(chǎn)的需要,對(duì)提高工業(yè)機(jī)器人的性能有十分重大的意義。本文的主要研究?jī)?nèi)容如下:1.建立線誤差標(biāo)定平臺(tái)。利用高精度的拉繩編碼器采集現(xiàn)場(chǎng)數(shù)據(jù),用拉繩編碼器的實(shí)際拉繩的長(zhǎng)度與機(jī)器人工具末端實(shí)際距用戶坐標(biāo)系原點(diǎn)的距離之差衡量機(jī)器人的絕對(duì)定位精度。2.建立運(yùn)動(dòng)學(xué)模型及誤差模型。結(jié)合六自由度工業(yè)機(jī)器人的結(jié)構(gòu)特點(diǎn),為避免平行關(guān)節(jié)間的微小偏差,采用MDH方法建立六自由度工業(yè)機(jī)器人的各個(gè)關(guān)節(jié)坐標(biāo)系,完成其運(yùn)動(dòng)學(xué)模型及其對(duì)應(yīng)的誤差模型的建立。3.驗(yàn)證線誤差標(biāo)定方法的可行性。根據(jù)上面建立的運(yùn)動(dòng)學(xué)模型及其誤差模型,采用建立好的線誤差標(biāo)定平臺(tái)對(duì)六自由度工業(yè)機(jī)器人進(jìn)行實(shí)驗(yàn)標(biāo)定。實(shí)驗(yàn)結(jié)果表明,采用該運(yùn)動(dòng)學(xué)標(biāo)定的方法使機(jī)器人的絕對(duì)定位精度提高了 75%。
[Abstract]:With the continuous expansion of the industrial robot application field and the development of the technology, the performance of the robot is required more and more in the industrial production, especially the high-precision industrial robot. Precision is an important index to evaluate the performance of industrial robots, and there are two main indexes to evaluate the accuracy of industrial robots, namely, repetitive positioning accuracy and absolute positioning accuracy. At present, the repetitive positioning accuracy of industrial robots is generally high, but its absolute positioning accuracy can not meet the needs of some industrial production. Therefore, it is one of the key technologies to improve the performance of industrial robots to find a way to improve the absolute positioning accuracy of robots. In this paper, the kinematics characteristics of six degrees of freedom industrial robot are analyzed by studying the structure of six degree of freedom industrial robot. Using high precision rope encoder to establish calibration platform and kinematics calibration method to improve the absolute positioning accuracy of industrial robot to meet the needs of industrial production is of great significance to improve the performance of industrial robot. The main contents of this paper are as follows: 1. Establish line error calibration platform. Using the high precision rope encoder to collect the field data, the absolute positioning accuracy of the robot is measured by the difference between the actual length of the rope pulling encoder and the distance between the actual distance between the end of the robot tool and the origin of the user coordinate system. Kinematics model and error model are established. In order to avoid the small deviation between parallel joints, the MDH method is used to establish the coordinate system of each joint of the six-degree-of-freedom industrial robot, and the kinematics model and the corresponding error model are established. The feasibility of line error calibration method is verified. According to the kinematics model and the error model established above, the 6-DOF industrial robot is calibrated experimentally by using the established linear error calibration platform. The experimental results show that the kinematics calibration method can improve the absolute positioning accuracy of the robot by 75%.
【學(xué)位授予單位】：天津工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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