Error analysis and research on 3-DOF coordinate measuring robot

Abstract

3-DOF coordinate measuring robot is a new type of measurement robot that is different from the traditional one. In order to conduct the thorough study to the 3-DOF coordinate measuring robot, we need to analyze and study its error; According to the D-H method, the kinematic model of the 3-DOF coordinate measuring robot and the error theory model are established. Based on the kinematic model, SIMMECHANICS and M functions of MATLAB were used to build the simulation model of robot error (Error simulation model of SIMMECHANICS method). According to the established error theory model, the M function is used to express the error simulation model of the robot (Error simulation model of M function method). The error model is verified by comparing the two error models. Combining with the error theory model, the error distribution of a plane in the workspace is investigated, which paves the way for the next theoretical study.