机器人精度的概率优化综合

Optimal Accuracy Synthesis of Industrial Robot by Stochastic Approach

In the design of an industrial robot, it is very important to reasonably allocate the tolerances in the linkage parameters and in the joint variables according to the absolute accuracy and repeatability accuracy of its hand pose (position and orientation). This paper intends to apply optimal technique to the above mentioned accuracy synthesis so as to determine the optimal robot tolerances, and minimize the manufacturing cost. On the basis of error probability analysis, a mathematic model for optimal accuracy synthesis of industrial robot has been established. For illustration, a 5R industrial robot is taken as a numerical example.