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Accuracy analysis and optimal design of palletizing robot with joint clearance

机译：具有关节间隙的码垛机器人的精度分析与优化设计

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This paper presents a systematic study of the optimal design problem for a palletizing robot with joint clearance based on the robot accuracy analysis theory which is combined with mechanism analysis method reasonably. The mechanical structure of palletizing robot is divided into three special four-link (parallelogram) mechanisms. And the pose (position and orientation) error of every parallelogram has been analyzed with parallel manipulators accuracy analysis method. By the error transformation relationship of the three parallelograms with joint clearance, an efficient formulation is proposed to evaluate the maximal pose error of palletizing robot. Base on the maximal pose error formulation, an optimal design method of the palletizing robot is obtained by minimize the normalization error we have proposed. Finally, a numerical example shows that the optimal design with joint clearance presents improved performance on accuracy.
机译：本文基于机器人精度分析理论，结合合理的机理分析方法，对具有关节间隙的码垛机器人的最佳设计问题进行了系统的研究。码垛机器人的机械结构分为三种特殊的四连杆（平行四边形）机构。并使用并行机械手精度分析方法分析了每个平行四边形的姿势（位置和方向）误差。通过三个平行四边形与关节间隙的误差变换关系，提出了一种有效的公式来评价码垛机器人的最大姿态误差。基于最大姿态误差公式，通过最小化我们提出的归一化误差，获得码垛机器人的最佳设计方法。最后，一个数值示例表明，具有关节间隙的最佳设计可提高精度。

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