东北大学学报（自然科学版）

东北大学学报（自然科学版） ›› 2022, Vol. 43 ›› Issue (7): 1003-1010.DOI: 10.12068/j.issn.1005-3026.2022.07.013

• 机械工程 • 上一篇    下一篇

一种7-DOF机械臂的结构设计及其几何位置误差分析

高跃1， 房立金2， 许继谦2， 巩云鹏1   

  1. (1.东北大学 机械工程与自动化学院， 辽宁 沈阳110819; 2. 东北大学 机器人科学与工程学院， 辽宁 沈阳110169)
  • 发布日期:2022-08-02
  • 通讯作者: 高跃
  • 作者简介:高跃(1991-)，男，辽宁朝阳人，东北大学博士研究生； 房立金(1965-)，男，辽宁沈阳人，东北大学教授，博士生导师.
  • 基金资助:
    辽宁省中央引导地方科技发展专项项目(2021JH6/10500132).

Structural Design of a 7-DOF Manipulator and Its Geometric Position Error Analysis

GAO Yue1， FANG Li-jin2， XU Ji-qian2， GONG Yun-peng1   

  1. 1. School of Mechanical Engineering & Automation， Northeastern University， Shenyang 110819， China; 2. School of Robot Science & Engineering， Northeastern University， Shenyang 110169， China.
  • Published:2022-08-02
  • Contact: FANG Li-jin
  • About author:-
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摘要： 基于双电机伺服驱动的关节设计制造了一种7-DOF协作机械臂，建立了该型机械臂末端执行器的几何误差模型，并且基于原始参数误差独立作用原理对参数误差进行分析与合成.基于数理统计大数定律，利用蒙特卡洛的方法对几何位置误差影响因素的灵敏度进行了数值仿真计算分析，找出对机械臂几何位置误差影响程度相对较大的参数误差.通过对机械臂末端执行器的几何位置误差计算分析，可知误差在工作空间内服从瑞利分布.经过实验测量，机械臂的重复定位误差不超过0.0591mm，并且绝对定位误差服从瑞利分布是显著性的，证明了双电机伺服驱动关节具有回差小、传动精度高的特点和误差分析的正确性，为机械臂的精度设计与应用提供理论依据.

关键词: 7-DOF机械臂；结构设计；误差模型；敏感性分析；误差分析

Abstract: A 7-DOF cooperative manipulator was designed and manufactured based on the joint driven by dual motor servo. The geometric error model of the end-effector of the manipulator was established， and the parameter errors were analyzed and synthesized based on the principle of independent action of the original parameter errors. Based on the law of large numbers of mathematical statistics and Monte Carlo method， the sensitivity of influencing factors of the geometric position errors was analyzed by numerical simulation， and the parameter errors which have relatively greater influence on the geometric position errors of the manipulator were found. Through the calculation and analysis of the geometric position errors of the end-effector of the manipulator， it was found that the errors obey the Rayleigh distribution in the workspace of the manipulator. The experimental measurement showed that the repeated positioning error of the manipulator is less than 0.0591mm， and the absolute positioning error obeys Rayleigh distribution significantly. It proved that the double motor servo-driven joint has the characteristics of small return errors and high transmission accuracy， and the error analysis is correct， which provides a theoretical basis for the precision design and application of the manipulator.

Key words: 7-DOF manipulator; structural design; error model; sensitivity analysis; error analysis

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