Analysis of repetitive positioning accuracy of unloading
manipulator based on Monte Carlo method

LIU Rui, TONG Xi-meng, TIAN Zhong-ke

                           (Mechanical and Electrical Engineering College, Qingdao University of Science and Technology, Qingdao 266061, China)

Abstract: Aiming at the problem of repeated positioning accuracy of the unloading robot, the parametric simulation analysis of the unloading robot under the joint condition of the three hinged parts was carried out. At the same time, the position and velocity of the unloading robot were respectively.And the acceleration of the three parts of the use of Pro/E three-dimensional modeling of the establishment of the physical model of tire unloading robot, through the Matlab program to get unloading robot hinge of the 1 000 group obey the normal distribution of random sampling data, and then the solid model and the obtained parameterized data was introduced into ADAMS for dynamic simulation analysis to obtain the movement curve and position change data of the unloading robot during the movement. Based on the Monte Carlo method, the probability of the dumpling gap was obtained by calculating the probability. The results indicate that there are some changes in position, velocity and acceleration in the case of hinge, and when the allowable deviation is -0.25 mm < μ < 0.25 mm, the reliability of the positioning accuracy of the tire manipulator can be guaranteed.
Key words: manipulator; hinge clearance; Monte Carlo method; ADAMS; accuracy