Dual-arm robot modular joint design and error analysis

摘要

This paper studies the multi-purpose redundant degrees of freedom (DOF) dual-arm robot modular joint design and error analysis. Dual-arm robot manipulator is composed of seven modular joints and the precision of each modular joint design is the basis of the mechanical arm function. The performance of the robot need joint lightweight design, good flexibility, high precision, to meet the needs of high precision assembly and micro operation is applied occasions. In this study, modular design method can realize high precision motion, small volume, light weight, high performance by integrating the motor, harmonic reducer, control module, driver module and the error control and feedback module. By analyzing mathematical model of error transfer, reduce the error in the design process.