Error analysis of robot joint clearance

被引：0

作者：

Song, Yue'e ^{[1
]}

Wu, Lin ^{[1
]}

Dai, Ming ^{[1
]}

机构：

[1] Harbin Inst. of Technol.

来源：

Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering | 2003年 / 39卷 / 04期

关键词：

Joint clearance; Repeatability; Robot;

D O I：

10.3901/jme.2003.04.011

中图分类号：

学科分类号：

摘要：

The effects of joint clearance variables on the position repeatability of robot end effector are analyzed using a two-dimensional vector method to define the joint clearance variables. According to the theory of probability, the probability density function of the robot end effector is developed based on the assumption of the joint clearance randomness distribution. And then the error distribution function of robot end effector is derived. The joint clearance error of RHJD4-1 6 DOF arc welding robot is analyzed by means of this method. The effects of joint clearance on the uncertainty of robotic position repeatability are outlined. And the restraining relation between joint clearance and position repeatability of robot is given, which sets a theoretical foundation for the robot design and precision analysis.

引用

页码：11 / 14

页数：3