徐卫良, 张启先. 机器人机构的精度优化设计[J]. 机器人, 1988, 10(1): 22-28,21.
引用本文: 徐卫良, 张启先. 机器人机构的精度优化设计[J]. 机器人, 1988, 10(1): 22-28,21.
XU Weiliang, ZHANG Qixian. Optimum Accuracy Design of Industrial Robot Linkage[J]. ROBOT, 1988, 10(1): 22-28,21.
Citation: XU Weiliang, ZHANG Qixian. Optimum Accuracy Design of Industrial Robot Linkage[J]. ROBOT, 1988, 10(1): 22-28,21.

机器人机构的精度优化设计

Optimum Accuracy Design of Industrial Robot Linkage

  • 摘要: 本文应用最优化技术,确定能满足机器人绝对精度要求的,并使制造成本最低的连杆参数的最优公差值.建立了机器人机构精度优化设计的数模,并针对一个带闭链的五自由度机器人,在不同精度指标,不同概率水平以及不同原始误差分布下,进行了连杆参数公差的优化计算.

     

    Abstract: It is important to select resonable linkage tolerances of an industrial robot with design accuracy.This paper deals with optimum accuracy design,i.e.,error synthesis.Aftcr error probability analysis being made,a mathematic model for the optimumaccuracy design of robot linkage is established with the linkage tolerances as designvariables and the linkage tolerance cost as objective function.At last,a 15-DOF industrial robot with a closed loop is taken as an illustiative example,and optimum results under several kinds of accuracy requirements and probability levels are given.

     

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