Accuracy Analysis and Synthesis of Multi Joint Serial Robot with Redundant Degrees of Freedom

The redundant degree of freedom (DOF) multi-joint series robot is studied. The precision analysis model of the robot is established based on differential transformation method, and the mapping relationship between the error parameters of the linkage and the spatial motion error is described. In the aspect of robot precision synthesis, a spiral model of spatial error is established by using the spiral theory, and the geometrical meaning of the spatial error of the robot system is formally expressed. The set parameter error of the robot D-H model is used as the design variable, and the manufacturing cost and the space motion error of screw pitch were taken as the design criteria. Built a comprehensive model of robot system accuracy, and finally introduced VlseKriterijumska Optimizacija I Kompromisno Resenje (VIKOR) decision-making method to obtain the final error distribution scheme, thus providing a theoretical basis for the reasonable value of structural design, and striving to ensure the accuracy of the robot in the design and manufacturing stages, and strengthen the operability of precision synthesis.