Dynamic Accuracy Analysis of Industrial Robots Considering Uncertainty

With its advantages of high flexibility, high efficiency and low cost, industrial robots play an important role in the transformation and upgrading of aviation manufacturing technology. However, due to uncertain parameters after the assembly, the industrial robot has low absolute positional and trajectory accuracy, which indicates robots designed based on traditional kinematics are far from meeting the high precision requirements. The purpose of this paper is to develop a dynamic accuracy analysis method of industrial robot considering uncertainty and provide theoretical guidance for the design and manufacturing stage of industrial robot. Sobol' global sensitivity analysis method is adopted to obtain the sensitivity data of uncertain parameters. 10 main parameters are extracted from 54 uncertain parameters and the residuals of the simplified model compared with the completed model are ± 0.05 mm.