Quantitative analysis method of influence of joint centralization error on locating precision of multi-freedom-degree mechanical arm tail end

Abstract

The invention discloses a quantitative analysis method of the influence of a joint centralization error on locating precision of a multi-freedom-degree mechanical arm tail end. The quantitative analysis method comprises the steps that (1) modeling is carried out on the joint pose transformation of a mechanical arm, and pose transformation matrixes of connecting rods are built through a D-H representation method; (2 ) modeling is carried out on the joint centralization error of the mechanical arm; (3) a centralization error model is guided in, the initial position poses of joints are determined, and the initial positions of the joints are determined; (4) analog simulation of the influence of the joint error on the motion position of the tail end is analyzed through a Monte Carlo method; (5) the position distribution diagram of end effectors is drawn according to the step (4), statistics is carried out on distribution characteristics, and the influence is evaluated. The method has the advantages of being simple in principle, easy and convenient to operate, high in precision and the like.

Description

technical field [0001] The invention mainly relates to the design field of a multi-degree-of-freedom mechanical arm, in particular to a method for analyzing the positioning accuracy of the end of the mechanical arm caused by joint centering errors, which is suitable for the design of a multi-degree-of-freedom mechanical arm. Background technique [0002] Such as figure 1 As shown, in the process of designing a multi-DOF manipulator, many factors will affect the motion accuracy of the tandem manipulator, such as: systematic error and random error. System error generally includes rigidity error, geometric error, positioning deviation and reaction Orientation error, random error includes positioning spread, load and vibration, etc. Among these factors, rigidity error, geometric error, positioning deviation and reverse error can be compensated by repeated measurement and correction of transfer model parameters as system errors. The error caused by load and vibration can be com...

AI Technical Summary

Problems solved by technology

The positioning spread reflects the centering error of the joints of the manipulator, which has strong randomness, and the distribution is difficult to count and difficult to compensate and correct.

[0003] At present, most of the research on "centering error" is focused on the measurement and correction of single joint centering error, and rarely discusses the influence of centering error on the positioning accuracy of the end, and the error transmission of multiple joints. There is a lack of analysis and evaluation methods for the impact of random errors such as centering errors on the positioning accuracy of the end of the multi-degree-of-freedom manipulator

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