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| Modeling and Analysis of Movement Error of Three Axis Orthogonal Robots |
| ZHANG Xin-long,TIAN Guang-yu,HUANG Yong |
| Tsinghua University, Beijing 100086, China |
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Abstract The movement error model of three axis orthogonal robots was built based on homogeneous transformation. The relationship between the actual movement trace and target location was given. First perpendicularity error due to improper installation was included in the model. Then straightness, deflection angle and positioning error were taken into account. Finally elastic deformation was also calculated in the model. In addition, the methocl to acquire the needed parameter of the model was introduced, making it possible to calculate the movement trajectory of robots. Numerical simulations showed that the maximum movement error in x, y, z direction is 1.7 mm, 1.0 mm, 0.4 mm respectively. Experiments verified the effectiveness of the model and calculation.
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Received: 07 June 2016
Published: 16 June 2017
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2017, Vol. 38 
