Reduction of End Effector Sensitivity to Robot Arm Structural Deflections by Implementation of a New Micromanipulator Design

当前工业机器人的端点位置精度差， 将其应用程序限制在容错的任务上。 这 研究的重点是通过安装 末端执行器上的附加传感器和致动器。 其基本原理是 以使夹持器对连杆的静态和动态偏转不敏感。 这种技术需要设计和开发新的传感器， 能够测量和校正臂端横向的致动器 在垂直和水平方向上的偏转。 以分离 补偿臂端偏转的问题 机器人手臂的控制问题，附加的传感器和执行器 将在由伺服回路控制的单个柔性梁上进行测试 controller. 建立了描述刚性和刚性组合的数学模型， 将开发柔性连杆的柔性运动。 性能 所提出的方法将通过数字仿真进行评估 问题研究 将通过测试传感器进行进一步评价 和致动器在实际的柔性连接上。

Poor endpoint positional accuracy of current industrial robots has restricted their applications to tasks that are error tolerant. This research focuses on improving end-of-arm accuracy by mounting additional sensors and actuators on the end effector. The rationale is to make the gripper insensitive to link static and dynamic deflections. This technique requires design and development of a new sensor and actuator capable of measuring and correcting the end-of-arm transverse deflections in the vertical and horizontal directions. To separate the issue of compensating for the end-of-arm deflections from the overall control problem of the robot arm, the additional sensors and actuators will be tested on a single flexible beam controlled by a servo loop controller. A mathematical model describing the combined rigid and flexible motions of the compliant link will be developed. Performance of the proposed approach will be evaluated through digital simulation studies. Further evaluation will be performed by testing the sensor and actuator on an actual flexible link.