Analysis of Pose Accuracy Reliability and Sensitivity for Six Degrees Freedom Welding Robot
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.
ADAMS Pose Error Monte Carlo Reliability Sensitivity
Jia Li Ye Li Meng Zhao Shuai Chen
School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China110819
国际会议
香港
英文
1506-1510
2012-12-11（万方平台首次上网日期，不代表论文的发表时间）