[1]徐卫良.机器人精度的概率优化综合[J].东南大学学报(自然科学版),1989,19(1):53-60.[doi:10.3969/j.issn.1001-0505.1989.01.008]
 Xu Weiliang(Department of Mechanical Engineering).Optimal Accuracy Synthesis of Industrial Robot by Stochastic Approach[J].Journal of Southeast University (Natural Science Edition),1989,19(1):53-60.[doi:10.3969/j.issn.1001-0505.1989.01.008]
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机器人精度的概率优化综合()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
19
期数:
1989年第1期
页码:
53-60
栏目:
本刊信息
出版日期:
1989-01-20

文章信息/Info

Title:
Optimal Accuracy Synthesis of Industrial Robot by Stochastic Approach
作者:
徐卫良
东南大学机械工程系
Author(s):
Xu Weiliang(Department of Mechanical Engineering)
关键词:
机器人 误差 精度 优化综合
Keywords:
industrial robot error accuracy optimal synthesis
分类号:
+
DOI:
10.3969/j.issn.1001-0505.1989.01.008
摘要:
本文应用最优化技术进行机器人的精度综合,确定能满足绝对位姿精度和重复位姿精度要求并可使公差制造成本最低的最优连杆参数公差和关节伺服定位精度。在误差概率分析的基础上,建立了机器人机构精度概率优化综合的数学模型。并针对一个五自由度机器人,给出了其最优公差值。
Abstract:
In the design of an industrial robot, it is very important to reasonably allocate the tolerances in the linkage parameters and in the joint variables according to the absolute accuracy and repeatability accuracy of its hand pose (position and orientation). This paper intends to apply optimal technique to the above mentioned accuracy synthesis so as to determine the optimal robot tolerances, and minimize the manufacturing cost. On the basis of error probability analysis, a mathematic model for optimal accuracy synthesis of industrial robot has been established. For illustration, a 5R industrial robot is taken as a numerical example.

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更新日期/Last Update: 2013-04-30