Robot Accuracy Design for Penetrant Testing of Steam Generator Partition
-
摘要: 以机器人位姿误差的概率分析为基础, 提出用概率精度指标对机器人进行精度设计的方法。对蒸汽发生器隔板PT检查机器人的精度进行了设计, 得出了各精度环节的设计指标。Abstract: Based on the probability analysis of the robot pose error, the probability accuracy indicators was proposed to design the robot accuracy. The robot accuracy was designed for the penetrant testing of steam generator partition, and the designed target precision were got of each step.
-
Keywords:
- Robot /
- Accuracy /
- Mechanical design
-
-
[1] 夏水华, 王晓青.PUMA机器人的精度设计[J].机械传动, 2001, 25(4): 16-18. [2] 焦国太, 冯永和, 王锋.多因素影响下的机器人综合位姿误差分析方法[J].应用基础与工程科学学报, 2004, 12(4): 435-442. [3] Mavroidis C, Dubowsky S, Drouet P, et al. Systematic error analysis of robotic manipulators: application to a high performance medical robot[C]. IEEE International Conference on Robotics and Automation. Albuquerque: New Mexico, 1997: 980-985. [4] Freeman J M, Ford D G. Automated error analysis of serial manipulators and servo heads[J]. Journal of Mechanical Engineering Science, 2003, 217(9): 1077-1084. [5] WU W, Rao S S. Uncertainty analysis and allocation of joint tolerances in robot manipulators based on interval analysis[J]. Reliability Engineering and System Safety, 2007, 92(1): 54-64. [6] 罗佑新.泛灰数学在机器人机构误差分析中的应用[J].机械传动, 2003, 27(3): 19-22. [7] 马培荪, 张新辉.工业机器人运动误差的概率分析[J].上海交通大学学报, 1993, 27(1): 57-63. [8] 赵永涛, 王田苗, 孙磊.基于蒙特卡洛方法的导航机器人的误差分析[J].航空制造技术, 2004, 47(3): 52-54, 61.
计量
- 文章访问数: 0
- HTML全文浏览量: 0
- PDF下载量: 0
下载:
