一种协作机器人位姿重复性优化综合

在给定位姿重复性要求的前提下,寻找各关节随机运动精度的最优分配方案能够使协作机器人设计更加合理,对降低机器人制造成本有重要意义。首先,在机器人位姿重复性分析的基础上,建立了位姿重复性数学模型,该数学模型包含机器人位置重复性和姿态重复性;其次,以协作机器人KUKA iiwa 7为例,以关节运动误差最大化为优化目标,对该机器人位姿重复性进行优化综合,获得各关节随机运动精度的最优分配方案;最后,对KUKA iiwa 7机器人进行位姿重复性实验,结果验证了该方法的正确性,基于该方法的精度设计结果能够使协作机器人设计更加合理。

Optimal Synthesis of Pose Repeatability for a Collaborative Robot

With the requirement of pose repeatability of robots,searching the optimal arrangement scheme of random motion accuracy of joints can make robot design more reasonable and reduce the development cost of robots.Firstly,based on the analysis of pose repeatability of robots,a mathematical model of pose repeatability is established.The model includes position repeatability and orientation repeatability of robots.Then,with the accuracy optimization evaluation function of maximization of joint motion error,the optimal synthesis of pose repeatability for collaborative robot KUKA iiwa 7 is performed.And the optimal arrangement scheme of random motion accuracy of joints can be obtained.Finally,the method is verified by carrying the pose repeatability test of KUKA iiwa 7,and the results of accuracy design by this method can make robot design more reasonable.