本文選題：6R型機(jī)器人 + 精度分析　； 參考：《哈爾濱工業(yè)大學(xué)》2017年碩士論文

【摘要】：隨著工業(yè)化的發(fā)展,工業(yè)機(jī)器人已逐步成為核心裝備,且越來(lái)越多的行業(yè)對(duì)其精度有了較高的要求,因此開(kāi)展工業(yè)機(jī)器人的定位精度的研究尤其重要。本文以6R型工業(yè)機(jī)器人為對(duì)象,從運(yùn)動(dòng)學(xué)的角度,對(duì)誤差源中確定性的結(jié)構(gòu)參數(shù)誤差和隨機(jī)性的關(guān)節(jié)間隙誤差進(jìn)行定位誤差分析。根據(jù)誤差特性對(duì)結(jié)構(gòu)參數(shù)誤差進(jìn)行運(yùn)動(dòng)學(xué)標(biāo)定,通過(guò)閉環(huán)約束標(biāo)定方式和基于約束模型的辨識(shí)方法,標(biāo)定得到準(zhǔn)確的參數(shù)值,提高6R機(jī)器人絕對(duì)定位精度。利用幾何法和蒙特卡洛法,求解出機(jī)器人工作空間;利用正逆運(yùn)動(dòng)學(xué),分析機(jī)器人各結(jié)構(gòu)參數(shù)對(duì)末端位置精度的影響,得出對(duì)機(jī)器人精度的影響規(guī)律。使用矢量法對(duì)關(guān)節(jié)間隙建模,基于概率論,分析機(jī)器人的二、三關(guān)節(jié)間隙對(duì)末端位置誤差的影響,得到的誤差分布能有效的指導(dǎo)機(jī)器人的設(shè)計(jì)、使用和維護(hù),以保證其重復(fù)定位精度。基于微分運(yùn)動(dòng)學(xué),建立考慮幾何參數(shù)的6R型串聯(lián)機(jī)器人的誤差傳遞模型,并通過(guò)Matlab仿真驗(yàn)證參數(shù)誤差模型的準(zhǔn)確性。針對(duì)機(jī)器人閉環(huán)約束自標(biāo)定方法,研究分析基于點(diǎn)、平面、球面約束的標(biāo)定方法,提出一種新型的球心距離標(biāo)定方法。分別對(duì)牛頓法、最小二乘法、下山單純形法進(jìn)行比較分析,找到最適合誤差參數(shù)標(biāo)定模型的辨識(shí)方法。針對(duì)參數(shù)的可辨識(shí)性,剔除無(wú)法辨識(shí)的參數(shù),分析確定了17項(xiàng)待辨識(shí)參數(shù)。使用基于DETMAX的增減算法,對(duì)標(biāo)定實(shí)驗(yàn)中的測(cè)量位姿進(jìn)行篩選,使位姿信息參與誤差辨識(shí),提高參數(shù)辨識(shí)的準(zhǔn)確度。對(duì)單球面約束標(biāo)定實(shí)驗(yàn)進(jìn)行仿真,使用Nelder-Mead算法進(jìn)行參數(shù)辨識(shí),補(bǔ)償后位置點(diǎn)更趨于擬合球面,表明球面模型標(biāo)定具有可行性。為了驗(yàn)證所提出的標(biāo)定方法的有效性,針對(duì)不使用外部測(cè)量?jī)x器的機(jī)器人自標(biāo)定,采用平面約束和球心距離約束的方式,進(jìn)行了兩組標(biāo)定實(shí)驗(yàn)。分別對(duì)采集到的測(cè)量點(diǎn)進(jìn)行數(shù)據(jù)處理,通過(guò)下山單純形法辨識(shí)得到結(jié)構(gòu)參數(shù)偏差,在機(jī)器人控制器中對(duì)其進(jìn)行補(bǔ)償,得出實(shí)驗(yàn)結(jié)論。
[Abstract]:With the development of industrialization, industrial robot has gradually become the core equipment, and more industries have higher requirements for its precision, so it is particularly important to research the positioning accuracy of industrial robot. In this paper, a 6R industrial robot is used as an object. From the point of view of kinematics, the positional errors of deterministic structural parameters and random joint clearance errors in the error source are analyzed. According to the error characteristics, the kinematic calibration of the structural parameters error is carried out. Through the closed-loop constraint calibration method and the identification method based on the constraint model, the accurate parameter values are obtained and the absolute positioning accuracy of the 6R robot is improved. By using geometric method and Monte Carlo method, the workspace of robot is solved, and the influence of robot structural parameters on the precision of terminal position is analyzed by using forward and inverse kinematics, and the law of influence on robot precision is obtained. Using the vector method to model the joint gap, based on the probability theory, the influence of the second and third joint clearance on the end position error of the robot is analyzed. The error distribution can effectively guide the design, use and maintenance of the robot. In order to ensure its repeat positioning accuracy. Based on differential kinematics, the error transfer model of 6R series robot with geometric parameters is established, and the accuracy of the error model is verified by Matlab simulation. Aiming at the self-calibration method of robot with closed-loop constraint, the calibration method based on point, plane and sphere constraints is studied, and a new calibration method of spherical center distance is proposed. The Newton method, the least square method and the downhill simplex method are compared and analyzed respectively to find the most suitable identification method for the error parameter calibration model. In view of the identifiability of the parameters, 17 parameters are determined by eliminating the unidentifiable parameters. In order to improve the accuracy of parameter identification, an algorithm based on DETMAX is used to screen the measurement position and pose in the calibration experiment, so that the position and attitude information can participate in the error identification and improve the accuracy of parameter identification. The experiment of single sphere constraint calibration is simulated and the parameter identification is carried out by using Nelder-Mead algorithm. After compensation the position points tend to fit the spherical surface which indicates that the calibration of spherical model is feasible. In order to verify the effectiveness of the proposed calibration method, two sets of calibration experiments were carried out for robot self-calibration without external measuring instruments, using plane constraint and spherical center distance constraint. The measured points are processed separately and the deviation of structural parameters is obtained by using the downhill simplex method. The error of structure parameters is compensated in the robot controller and the experimental results are obtained.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242.2

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