| 室内喷涂机器人运动学建模及误差分析 |
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| 引用本文：邢辉1，宋科2，郭洛浦1.室内喷涂机器人运动学建模及误差分析[J].计算技术与自动化,2026,(1):65-71 |
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| 中文摘要:为解决喷涂机器人建筑过程喷涂层厚度不一等喷涂质量问题，将影响喷涂质量的主要因素进行分析，以提高机器人定位精度。用MDH法建立运动学模型，确保模型准确，再分析造成精度问题的几何误差，尤其是理论上两轴线应处于平行，实际上存在不平衡度的y轴方向误差角，并在此基础上建立误差模型，通过控制变量法计算各个几何误差对末端位置误差的影响，分析各个误差和机器人精度之间的关系。结果表明连杆长度等常量误差对末端位置影响较小，关节扭角和连杆转角误差对喷涂机器人的末端位置误差影响较大，且Y轴方向误差偏转角对末端误差影响是跳变式的；最后针对这些几何误差提出对应解决方法，所使用的误差分析方法与得到的分析数据为后续研究机器人误差补偿原理与方法提供理论分析基础。 |
| 中文关键词:运动误差 室内喷涂机器人 控制变量法 |
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| Kinematic Modeling and Error Analysis of Indoor Spraying Robots |
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| Abstract:In order to solve the problem of spraying quality in the process of spraying robot construction, the main factors affecting spraying quality were analyzed to improve the positioning accuracy of the robot. MDH method (Modified Denavit-Hartenberg) was used to establish a kinematic model, confirm the accuracy of the model, and then analyze the geometric error causing the accuracy problem, especially the theory that the two axes should be parallel, but in fact there is an unbalance Y-axis direction error angle, and establish an error model on this basis. The influence of each geometric error on the end position error is calculated by the control variable method, and the relationship between each error and the robot precision is analyzed. The results show that the constant errors such as the length of the connecting rod have little effect on the end position, the joint torsion angle and the connecting rod angle error have a greater effect on the end position error of the spraying robot, and the deviation angle of the Y-axis direction error has a hopping effect on the end error. Finally, the corresponding solution to these geometric errors is proposed. The error analysis method used and the obtained analysis data provide the theoretical analysis basis for the follow-up research on the principle and method of robot error compensation. |
| keywords:motion error indoor spraying robot control variable method |
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