The Analysis of Static Pose Error for a Multi-Joint Climbing Robot

Abstract:

The research object was a 5-joint climbing robot in series, whose structure consisted of the body links and two symmetrical end-claws. The analysis theory of industrial robots was proposed to make systematical research on the static pose error. The kinematics model of static pose error is established, according to the kinematics D-H theory. Set the claw fixed on the climbing target as the base, and then the motion was transmitted to the other claw by the 5 joints. The equations of static pose error were derived. Calculations and analysis were made in MATLAB providing the theory reference to the research on error compensation and controlling. The results indicate that angle parameter error has great affect on the end-pose error of the robot which is in proportion to the angle parameters, so measures to reduce the angle parameter error need to be made to improve the precision of robot.

• Periodical: Applied Mechanics and Materials (Volumes 670-671)
• Pages: 1397-1402
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.670-671.1397
• Online since: October 2014
• Authors: Lei Wang, Xue Liang Huang
• Keywords: Climbing Robot, D-H Theory, Precision, Static Pose Error

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