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Abstract: The effects of the joint clearance variables to the
position repeatability of the 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
distribution of the joint clearance randomness. And then error
distribution function of the 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 affects of the joint clearance to the uncertainty of
the robotic position repeatability are outlined. And the restraining
relation between the joint clearance and position repeatability of robot
is given, which sets a theoretical foundation for the robot designing
and precision analyzing.
Key words: Robot Joint clearance Repeatability
CLC No: TH115
国家自然科学基金资助项目(59635160).
Received 20011205, received in revised form 20020925
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