Research On Precision Analysis And Error Compensation Of Six Degrees Of Freedom Industrial Robot

The end deformation of industrial robots in complex work and production environments will lead to a reduction in the absolute positioning accuracy of industrial robots,which will lead to the inability of industrial robots to achieve the desired results during the work process.In order to improve the absolute positioning accuracy of the robot,this thesis took the Xinsong SR10 C industrial robot as the research object,comprehensively considered the joint deformation caused by servo motor transmission deformation and reducer transmission deformation,as well as the impact of bending deformation,torsional transformation,tensile deformation,and the gravity of the robot’s own arm on the robot’s end deformation,and conducted research on positioning accuracy and error compensation,and explored methods for improving the absolute positioning accuracy of industrial robots.The main research contents are as follows:Firstly,according to the configuration characteristics of the six degrees of freedom industrial robot,the kinematics model of the robot is established based on DH modeling rules,and the forward and inverse solutions of the robot kinematics are derived.Considering the influence of the robot joint deformation,arm deformation and the robot’s own gravity on the end deformation,the overall stiffness model of the robot in different positions and postures is established,and digital simulation research is carried out.Secondly,the established robot overall stiffness model was validated through robot end deformation experiments.The experimental results showed that the experimental results of robot end deformation were basically consistent with the simulation results,proving the correctness and effectiveness of the robot overall stiffness model.In addition,the impact of various joint angles on the overall stiffness of the robot was analyzed through the established robot stiffness model,and it was found that the output angles of the robot’s 2 and 3 joints are the main factors affecting the overall stiffness of the robot.Then,based on the stiffness model,a robot error compensation model was established,and error compensation simulation was conducted using MATLAB to prove the feasibility of the error compensation method.Thirdly,taking the Xinsong SR10 C industrial robot as the experimental object,a laser tracker was used as the measuring instrument.A test cube of 0.5 cubic meters was selected in front of the robot,and robot error compensation experiments were conducted on five measurement points in the robot test cube.The experimental results show that the positioning error of the robot is reduced by 67.6% before and after error compensation,achieving a certain compensation effect,thus verifying the effectiveness of the error compensation method in this thesis.Finally,in order to apply the practical error compensation method to engineering practice,a corresponding robot error compensation software was developed using MATLAB,and the main functions,interface composition,and usage methods of the software were briefly introduced.