TYZN-06-04机器人刚柔耦合工况下的运行过程探究
Exploration of Operation Process of TYZN-06-04 Robot under Rigid-Flexible Coupling Condition
罗进生 1罗庆怡2
作者信息
- 1. 黄冈职业技术学院,黄冈 438002
- 2. 四川大学机械工程学院,成都 610065
- 折叠
摘要
以TYZN-06-04六自由度关节机器人为研究对象,使用ADAMS构建机器人刚柔耦合仿真模型,将生成的运行轨迹导入ADAMS中,通过刚柔耦合仿真模型分别探究机器人运行速度、运行加速度和负载对其定位精度误差的影响,以便研究在不同运行速度、运行加速度及不同负载的情况下,机器人执行末端的位置误差变化情况,最终实现Matlab的曲线数据拟合,直观呈现机器人刚柔耦合工况下运行过程的变化规律,根据运行过程变化规律,采取相应的位置精度误差分析及误差补偿措施.
Abstract
Taking the TYZN-06-04 six degree of freedom joint robot as the research object,a rigid flexible coupling simulation model of the robot was constructed using ADAMS.The generated running trajectory was imported into ADAMS,and the effects of the robot's running speed,running acceleration,and load on its positioning accuracy errors were explored through the rigid flexible coupling simulation model.In order to study the changes in the position error of the robot's execution end under different running speeds,running accelerations,and loads,MATLAB curve data fitting was finally achieved,and the variation rules of the robot's running process under rigid flexible coupling conditions were intuitively presented.Based on the variation rules of the running process,corresponding position accuracy error analysis and error compensation measures were taken.
关键词
机器人/刚柔耦合/精度误差/位置精度Key words
robot/rigid flexible coupling/accuracy error/position accuracy引用本文复制引用
出版年
2024
NETL
NSTL
万方数据