Error Analysis of a New Five-Degree-of-Freedom Hybrid Robot

摘要

The error analysis of the robot has a very practical significance for improving its accuracy. Therefore, this paper conducts an error analysis for a new five-degree-of-freedom hybrid robot designed to conduct responsible surface machining. Initially, the error sources of the hybrid robot were sorted out to determine the number of error sources. Then, the error mapping model of the hybrid robot is established by the closed-loop vector method and the first-order perturbation method. Based on the mapping property of the 6th-order velocity Jacobi matrix, the compensable and non-compensable error sources affecting the posture error at the end of the hybrid robot are separated. Finally, the error analysis of the separated error sources is carried out to study the effect of single error sources and multiple error sources coupled with the posture error at the end of the robot. The results show that among the individual error sources, the dynamic and fixed platform hinge position error has the most significant effect on the end of the robot; among the integrated posture errors after coupling multiple error sources, the position of the dynamic and fixed platform hinge position error and the translational joint initial position dominate; the analysis of the different trajectories also yields that the error introduced by each error source increases gradually with the increase of the end trajectory. When designing this hybrid robot, attention should be paid to the manufacturing and installation accuracy of the dynamic and fixed platform hinge point positions and the translational joint initial position.