Dual-arm Robot Modular Joint Design and Error Analysis

被引：0

作者：

Fang, Lilong ^{[1
]}

Luo, Minzhou ^{[2
]}

Chen, Jian ^{[2
]}

Wang, Pengcheng ^{[2
]}

机构：

[1] Univ Sci & Technol China, Dept Precis Machinery & Precis Instrumentat, Hefei 230027, Anhui, Peoples R China

[2] Inst Adv Mfg Technol, Lab Virtual Prototyping, Changzhou 213164, Jiangsu, Peoples R China

来源：

2014 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (IEEE ICMA 2014) | 2014年

关键词：

dual-arm robot; modular joint; error control; error modeling analysis; dynamics simulation;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper studies the multi-purpose redundant degrees of freedom (DOF) dual-arm robot modular joint design and error analysis. Dual-arm robot manipulator is composed of seven modular joints and the precision of each modular joint design is the basis of the mechanical arm function. The performance of the robot need joint lightweight design, good flexibility, high precision, to meet the needs of high precision assembly and micro operation is applied occasions. In this study, modular design method can realize high precision motion, small volume, light weight, high performance by integrating the motor, harmonic reducer, control module, driver module and the error control and feedback module. By analyzing mathematical model of error transfer, reduce the error in the design process.

引用

页码：1300 / 1305

页数：6

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