Open AccessAccuracy analysis and errors compensation of 4-DOF reconfigurable punching robot
Author(s) -
GE Zheng-hao,
Hao Chen,
Xiaoyu Han
Publication year - 2020
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/892/1/012081
Subject(s) - actuator , robot , punching , computer science , control theory (sociology) , serial manipulator , compensation (psychology) , simulation , matlab , artificial intelligence , engineering , control engineering , computer vision , parallel manipulator , mechanical engineering , control (management) , psychology , psychoanalysis , operating system
The aims of this paper were to enhance the accuracy of the 4-DOF reconfigurable punching robot when it was working, as well as to reduce the error made by robots when they were loading and unloading materials. For these ends, by elucidating the composition and function of 4-DOF serial re-configurable punching robot, the static pose error model and the dynamic pose error model of the robot actuator were built in the present paper. Besides, MATLAB was employed to plot the actuator pose error curve. Subsequently, the pose error of the robot actuator under was delved into based on both static and dynamic factors. Afterwards, the comprehensive pose error model of the actuator was developed to plot the comprehensive pose error curve of the actuator. The perturbation compensation method was used to compensate the robot actuators. The results showed that the positioning accuracy of the robot was effectively improved. These the mentioned efforts, a solid basis was laid for manufacturing the 4-DOF reconfigurable punching robot, as well as enhancing its accuracy.