Modeling of Spatial Error Transmission and Precision Design for Heavy-duty Robot for Large Parts of Ship

This article establishes a global sensitivity evaluation index of kinematics parameter errors based on the pose error sensitivity coefficient. Firstly, an error source screening scheme is proposed to improve the accuracy of error identification. Secondly, simulation analysis was conducted on the error sensitivity of robot D-H kinematic parameters and the results showed that the angle parameters have a more sensitive impact on the end effector pose of the robot, and they amplify with the accumulation of the number of series joints, while the linkage parameters mainly affect the end position and there is no cumulative amplification. Finally, the indicator is established according to the global pose error sensitivity, and the redundant parameter error is eliminated.