Analysis of Pose Accuracy Reliability and Sensitivity for Six Degrees Freedom Welding Robot

被引：1

作者：

Li, Jia ^{[1
]}

Li, Ye ^{[1
]}

Zhao, Meng ^{[1
]}

Chen, Shuai ^{[1
]}

机构：

[1] Northeastern Univ, Sch Mech Engn & Automat, Shenyang 110819, Peoples R China

来源：

FRONTIERS OF MANUFACTURING AND DESIGN SCIENCE III, PTS 1 AND 2 | 2013年 / 271-272卷

关键词：

ADAMS; Pose Error; Monte Carlo; Reliability; Sensitivity;

D O I：

10.4028/www.scientific.net/AMM.271-272.1506

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

With the continuous development of industrial automation, robots are applied to various fields of industry increasingly, and the robot pose accuracy become an important issues. Through the establishment of the robot parameterized virtual prototype model, the error of bar length, joint angle and joint space have been taken into account, and the Monte Carlo sampling method is used to process a number of simulation analysis. The reliable probability which is given within the error limits is calculated, and finally through sensitivity analysis, the conclusion is drawn that different error factors influent the robot end error differently, which have a certain significance for the allocation of the manufacturing tolerances of the robot and trajectory planning.

引用

页码：1506 / 1510

页数：5

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