機械誤差の統一モデル化と定式化 （第１報） ロボットのオフラインプログラミングシステムのための簡便なロボット機械誤差補正法

Abstract

This paper deals with a method of correcting mechanical crrors of robots. Concerning the correction of mechanical errors of robots for actual production lines, we developed a method that achieves the desired results easily without any measuring devices. The influence factors of geometric and non-geometric robot parameters on the precision of position repeatability is analyzed for the correction of mechanical crrors. For geometric parameters, processing and assembly errors of the component parts and deformation of the links caused by the variation of temperature, A simulation model is proposed to identify these parameters. For non-geometric parameters, gear backlash and the deformation of links caused by loads, the model for the modulus of elasticity and backlash of individual linkages is analyzed. The experiment indicated that all the mechanical errors addressed in the study were treated as geometric parameters. Finally, we propose a model that treats the mechanical errors uniformly based on the experiment results.