Positioning Accuracy And Reliability Analysis Of UR10 Industrial Manipulator

Intelligent manufacturing is the main research orientation of the strategy of "Made in China 2025".As the key equipment of advanced manufacturing,industrial robots have been widely used in various processing and manufacturing fields,which benefit from strong load capacity,smooth transmission and high coordination.At present,the mainstream industrial robots are serial manipulators.To solve the problems of excessive jitter,poor positioning accuracy,and low motion reliability caused by the flexible characteristics of the serial manipulator on the market during its movement,The paper sets the UR10 industrial manipulator as the object,carries out the kinematics and dynamics analysis respectively,establishes its rigid-flexible coupling finite element model,completes the positioning accuracy simulation experiment and motion accuracy reliability analysis,and further builds the experimental platform to verify the simulation results.The main research content of the paper is as follows:(1)The kinematics model and simulation verification of UR10 industrial manipulator are set in this chapter.This chapter establishes the basic coordinate system of the UR10 industrial manipulator by the D-H parameter method,carries out theoretical modeling of its forward and inverse kinematics and obtains the theoretical formula of forward and inverse kinematics respectively,then verifies the correctness of the kinematic parameters through the MATLAB Robotics Toolbox.The planned motion path based on the space joints and the motion parameters of each joint angle during the motion of manipulator are obtained,which provide driving parameters for the subsequent dynamic analysis of the UR10 industrial manipulator.(2)Establish the dynamic model of the UR10 industrial manipulator,and simulate the dynamic characteristics of its rigid system and rigid-flexible coupling system respectively.The dynamics model of UR10 industrial manipulator is set by Lagrange method,the ADAMS dynamics software is used to simulate the rigid system of the manipulator by virtual prototype,and two arms of the manipulator are flexibly processed,then ADAMS and ANSYS are co-simulated to analyse the dynamic characteristics of the rigid-flexible coupling system of the UR10 industrial manipulator.Compared with the rigid system of manipulator,the torque of the six joints of its system fluctuates greatly at the beginning of movement,but the trend of all the torque is same.The angular accelerations of end-effector of the manipulator have large fluctuations in the three directions of XYZ at the beginning of the movement,and the displacement errors of endeffector are accumulated by resulting shocks during the overall movement,which in turn affects the positioning accuracy of the manipulator.It shows that the flexibility of arms will have a certain impact on the positioning accuracy of the manipulator,laying a foundation for the subsequent analysis of the positioning accuracy.(3)The positioning accuracy and movement accuracy reliability of the UR10 industrial manipulator is analysed.Based on the Transient Structural module in ANSYS Workbench,the finite element model of the UR10 industrial manipulator is established,the motion route of the manipulator is planned according to the working conditions,and its positioning accuracy is analysed by setting different joint drive speeds.It is found that the optimal joint driving speed should not exceed 80% of the rated speed,and the vibration happens obviously at the turning point of the motion trajectory when the driving speed of manipulator is too high.Through the ANSYS probability analysis module,the influence of the material properties,load and driving speed of the UR10 industrial manipulator as random factors on the displacement error of the end-effector is explored respectively.It is obtained that the rotation speed of joint 3 highest influences the positioning accuracy of the manipulator,and through probability distribution calculations,the reliability of the manipulator system is 78.471% when the allowable displacement of the end-effector is 0.49 mm,which meets the requirement of the manipulator system under general working conditions.(4)The simulation experiment results of the positioning accuracy analysis of the manipulator in ANSYS Workbench is verified by building the UR10 industrial manipulator experimental platform.The experiment adopts a high-precision trinocular camera to record the coordinates of the end-effector central point of the manipulator in the planned path in real time,and the accuracy of the simulation results of the manipulator positioning accuracy is verified by comparing the data of the simulation experiment group.