Design sensitivity analysis of industrial robot

Ciglaric, Iztok; Oblak, Maks

doi:10.1002/zamm.19980781514

Cited by 2 publications

(1 citation statement)

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“…According to the error sources mentioned above, there have two approaches to improve the positioning accuracy (Huang et al , 2002). Manufacturing and assembly errors can be reduced by decreasing their manufacturing and assembly tolerances during the accuracy design phase, which can be achieved by identifying the main error sources (Ciglaric and Oblak, 1998; Li et al , 2018). Alternatively, the accuracy can be improved by compensating the error of the end effector at each point, which includes kinematics modeling, error modeling and error compensation (Gong et al , 2000; Pane et al , 2019; Kumar and Sathiaseelan, 2018).…”

Section: Introductionmentioning

confidence: 99%

Study of error compensations and sensitivity analysis for 6-Dof serial robot

Luo

Zhang

2020

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Purpose The purpose of this paper is to improve the positioning accuracy of 6-Dof serial robot by the way of error compensation and sensitivity analysis. Design/methodology/approach In this paper, the Denavit–Hartenberg matrix is used to construct the kinematics models of the robot; the effects from individual joint and several joints on the end effector are estimated by simulation. Then, an error model based on joint clearance is proposed so that the positioning accuracy at any position of joints can be predicted for compensation. Through the simulation of the curve path, the validity of the error compensation model is verified. Finally, the experimental results show that the error compensation method can improve the positioning accuracy of a two joint exoskeleton robot by nearly 76.46%. Findings Through the analysis of joint error sensitivity, it is found that the first three joints, especially joint 2, contribute a lot to the positioning accuracy of the robot, which provides guidance for the accuracy allocation of the robot. In addition, this paper creatively puts forward the error model based on joint clearance, and the error compensation method which decouples the positioning accuracy into joint errors. Originality/value It provides a new idea for error modeling and error compensation of 6-Dof serial robot. Combining sensitivity analysis results with error compensation can effectively improve the positioning accuracy of the robot, and provide convenience for welding robot and other robots that need high positioning accuracy.

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