Analysis of Pose Accuracy Reliability and Sensitivity for Six Degrees Freedom Welding Robot

Abstract:

With the continuous development of industrial automation, robots are applied to various fields of industry increasingly, and the robot pose accuracy become an important issues. Through the establishment of the robot parameterized virtual prototype model, the error of bar length, joint angle and joint space have been taken into account, and the Monte Carlo sampling method is used to process a number of simulation analysis. The reliable probability which is given within the error limits is calculated, and finally through sensitivity analysis, the conclusion is drawn that different error factors influent the robot end error differently, which have a certain significance for the allocation of the manufacturing tolerances of the robot and trajectory planning.

• Periodical: Applied Mechanics and Materials (Volumes 271-272)
• Pages: 1506-1510
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.271-272.1506
• Online since: December 2012
• Authors: Jia Li, Ye Li, Meng Zhao, Shuai Chen
• Keywords: Adam, Monte Carlo, Pose Error, Reliability, Sensitivity

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