Industrial Robot's Positioning Error Measurement Based on Orthogonal Experimental Table

China Mechanical Engineering ›› 2013, Vol. 24 ›› Issue (6): 720-723.

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Industrial Robot's Positioning Error Measurement Based on Orthogonal Experimental Table

Qi Lizhe1;Chen Lei2;Wang Wei1;Yu Leibin2;Yun Chao1

1.Beihang University,Beijing,100083
2.Shanghai Aircraft Manufacturing Co., Ltd., Shanghai,200436

Online:2013-03-25 Published:2013-04-08
Supported by:

The National Key Technology R&D Program（No. 2011BAF04B01）

基于正交试验法的工业机器人定位误差测量

齐立哲1;陈磊2;王伟1;余蕾斌2;贠超1

1.北京航空航天大学,北京,100083
2.上海飞机制造有限公司,上海,200436

基金资助:
“十二五”国家科技支撑计划资助项目(2011BAF04B01);商用飞机制造工程技术研究中心创新基金资助项目
The National Key Technology R&D Program（No. 2011BAF04B01）

Abstract

Abstract:

In order to measure the industrial robot's positioning error,a mathematical model of the error measurement system based on the FARO ARM was established,the sample space for the industrial robot's positioning error calibration process was given based on the orthogonal experimental table.A real industrial robot's positioning error measurement system was set up and the ABB1410 robot's positioning error was measured. This is a foundation for measuring the robot's positioning errors.

Key words: industrial robot, sample space, positioning error measurement, orthogonal experimental table

摘要：

为了测量出工业机器人的定位误差,建立了基于FARO ARM的机器人定位误差测量系统数学模型;基于6因素5水平的正交试验表,确定了工业机器人定位误差标定需要采集数据的样本空间;搭建了实际的机器人定位误差测量系统,测得了ABB1410工业机器人在其样本空间内的定位误差，为工业机器人定位误差的补偿打下了基础。


关键词: 工业机器人, 样本空间, 定位误差测量, 正交试验法

CLC Number:

TP242.2

JI Li-Zhe-1, CHEN Lei-2, WANG Wei-1, TU Lei-Bin-2, YUAN Chao-1. Industrial Robot's Positioning Error Measurement Based on Orthogonal Experimental Table[J]. China Mechanical Engineering, 2013, 24(6): 720-723.

齐立哲1, 陈磊2, 王伟1, 余蕾斌2, 贠超1. 基于正交试验法的工业机器人定位误差测量[J]. 中国机械工程, 2013, 24(6): 720-723.

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Industrial Robot's Positioning Error Measurement Based on Orthogonal Experimental Table

基于正交试验法的工业机器人定位误差测量

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