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针对可重构机器人模块结构设计制造与构型变化引起的尺寸及几何参数等静态误差,将可重构机器人静态几何参数误差等效为机器人关节上的结构误差和传动误差,并将其看成是一种假想广义运动副微小旋量运动的结果,从而建立可重构机器人含误差旋量的运动学指数积模型。基于可重构机器人输入误差与输出误差的关系,建立了误差参数灵敏度系数模型。基于MATLAB仿真分析了可重构机器人各误差参数的灵敏度系数以及误差参数对机器人末端位置的影响规律,有利于对可重构机器人轨迹精度进一步分析和优化,以及为不同精度要求的工业机器人设计与装配提供有效的理论支持。一种6自由度可重构机器人的仿真实验验证了误差旋量建模方法以及误差参数灵敏度分析方法是有效的。
Aiming at the static error such as size and geometrical parameters caused by design, manufacture and configuration change of reconfigurable robot module structure, the static geometric parameter error of reconfigurable robot is equivalent to the structural error and transmission error of robot joint, which is regarded as Is a result of the hypothetical generalized motion minor spin, and establishes the kinematic index product model of the reconfigurable robot with error spin. Based on the relationship between input error and output error of reconfigurable robot, a model of error parameter sensitivity coefficient is established. Based on the MATLAB simulation, the sensitivity coefficients of the error parameters of the reconfigurable robot and the influence rules of the error parameters on the robot’s end position are analyzed, which are helpful for the further analysis and optimization of the trajectory accuracy of the reconfigurable robot, as well as for the design and implementation of industrial robots with different precision requirements Assembly provides effective theoretical support. A simulation experiment on a reconfigurable 6-DOF robot verifies that the method of error spin modeling and the method of sensitivity analysis of error parameters are effective.