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在工业机器人末端夹持测量或加工设备时,引入设备的重量会对机器人的运动性能造成影响,尤其是引入设备的质量较大时,机器人的负载效应比较明显,会影响机器人的末端定位精度。在高精度测量和加工条件下,应当充分考虑负载对机器人的影响。文章从工业机器人的六个轴与关节臂特性入手,分析了负载影响机器人末端定位精度的主要作用方式,建立了机器人各个轴受负载影响的误差模型,并设计实验加以验证。实验结果表明提出的误差模型能较为准确的反映出负载对工业机器人末端定位精度的影响。
When the measurement or processing equipment is held at the end of the industrial robot, the weight of the equipment introduced will affect the movement performance of the robot. Especially when the quality of the introduced equipment is large, the load effect of the robot is obvious and the accuracy of the robot’s end positioning will be affected. In high-precision measurement and processing conditions, should take full account of the impact of the load on the robot. Starting with the characteristics of six axes and articulated arms of industrial robots, the paper analyzes the main effects of loads on the positioning accuracy of robots and establishes the error model of each axis affected by loads. The experiment is verified by design experiments. Experimental results show that the proposed error model can accurately reflect the impact of load on the accuracy of the end positioning of industrial robots.