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A spatial vector projection based error sensitivity analysis method for industrial robots

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Abstract

Precision design is an important approach to guarantee the accuracy of industrial robots, where error sensitivity analysis lays a vital foundation. Intuitively, if the pose error vector caused by one error component is nearly perpendicular to the sum vector that is caused by all error sources, this error component will have little influence on the accuracy of end-effector even though its norm is large. Unimportant errors may unreasonably be regarded as vital errors when their direction characteristics are ignored. In this paper, the local sensitivity index (LSI) is defined based on the projection theory of spatial vector to evaluate the contribution of an error component in a definite pose. Both the direction and norm characteristics of pose error vector are considered in the novel definition of LSI, which is quite different from the previous researches. According to the definition of expectation and variance, the average sensitivity indices (ASI) and variance sensitivity indices (VSI) of error sources are established. Finally, the precision design of a 6-DOF (degrees of freedom) industrial robot is conducted in numerical simulation based on the proposed error sensitivity analysis method. The results show that the pose accuracy of end-effector can greatly be increased by improving very few error components obtained via error sensitivity analysis. The proposed error sensitivity analysis method is quite effective, which can greatly improve precision design effects.

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Authors and Affiliations

  1. The State Key Laboratory of Tribology & Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing, 100084, China

    Jie Li, Fugui Xie, Xin-Jun Liu & Bin Mei

  2. Chengdu Aircraft Industrial (Group) Co., Ltd, Chengdu, 610092, China

    Jie Li

  3. Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing, 100084, China

    Fugui Xie & Xin-Jun Liu

  4. GSK CNC Equipment Co., LTD., Guangdong, 510530, China

    Hongji Li

Authors
  1. Jie Li
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  2. Fugui Xie
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  3. Xin-Jun Liu
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  4. Bin Mei
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  5. Hongji Li
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Corresponding author

Correspondence to Fugui Xie.

Additional information

Jie Li is currently a post doctor at Chengdu Aircraft Industrial (Group) Co., Ltd. He received his Ph.D. degree at Department of Mechanical Engineering, Tsinghua University, Beijing, China. He received his master degree from Beihang University, Beijing, China, in 2010. His research interests include precision engineering and measurement technology.

Fugui Xie is currently an Assistant Professor at State Key Laboratory of Tribology & Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, China. He received his Ph.D. degree from Tsinghua University, China, in 2012, and received his bachelor degree from Tongji University, China, in 2005. His research interests include robotics, parallel mechanisms and advanced manufacturing technology. He is the Fellow of Alexander von Humboldt Foundation.

Xin-Jun Liu is currently a Professor at State Key Laboratory of Tribology & Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, China. He received his Ph.D. degree from Yanshan University, Qinhuangdao China, in 1999. His research interests include robotics, parallel mechanisms, parallel kinematic machines and advanced manufacturing equipments. He is also the Winner of National Outstanding Youth Fund of China, "Cheung Kong" Chair Professor, and the Associate Editor of Mechanism and Machine Theory.

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Li, J., Xie, F., Liu, XJ. et al. A spatial vector projection based error sensitivity analysis method for industrial robots. J Mech Sci Technol 32, 2839–2850 (2018). https://doi.org/10.1007/s12206-018-0540-y

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  • DOI: https://doi.org/10.1007/s12206-018-0540-y

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