Positioning Accuracy and Reliability Analysis of Rigid-Flexible Coupling Model of Six-DOF Manipulator

To address the issues of excessive jitter, poor positioning accuracy, and low motion reliability, which are caused by the flexible characteristics of a six-DOF industrial manipulator during its movement, a rigid-flexible finite element model of the manipulator is established in this paper. The displacement trajectory and position of the end-effector under the rated drive is calculated, and the positioning accuracy is analyzed. Furthermore, the relationship between the end-effector positioning accuracy and different drives is obtained, and it is found that the optimal drive speed should not exceed 75% of the rated speed of the motor and there will be obvious vibration at the turning point of the trajectory when the speed is too high. In addition, this paper also studies the influence of the material properties, loading, driving of the manipulator on the positioning accuracy of the end-effector, where all parameters of manipulator above are assumed to be random variables, and the reliability distribution function is obtained accordingly.