High Accuracy Analysis of SCARA Industrial Robot based on Screw Theory
Error sources which influence the end-executors accuracy are summarized. Based on an analysis of influence caused by the structural error and transmission error, we build a pose error model of industrial robots with screw theory. If regarding the inertia force of the robot system as the external force, the robot system will become a static system. The rigidity can be analyzed using the screw theory, then we establish the dynamic error modle which is caused by the inertia force and gravity. After the error parameters which influence the static error of Selective Compliance Assembly Robot Arm (SCARA) robot are expressed by two-dimensional discrete variable, error space of the end-executors track of robot are made. Position error which influenced by the error sources are analysed by comparision of difference. Total accuracy can be improved through controlling the error direction of the static error to counteract the dynamic errors influence. The error model provides an effective theoretical support for the design of industrial robots with different accuracy requirements.
Error sources SCARA robot Accuracy
Zhao Liang Su Meng Miao Yunchen
Department of Mechanical Engineering, Zhejiang University, Hangzhou, China
国际会议
合肥
英文
249-255
2011-09-23（万方平台首次上网日期，不代表论文的发表时间）