如何提高机器人定位精度是机器人柔性化加工中重点研究的问题，而温度变化引起的机构热变形是影响定位精度的重要原因之一。分析了机器人自身发热及现场环境温度变化对各轴运动学参数及末端定位精度的影响，采用有限元原理构建机器人的温度分布及热变形模型。针对两种热影响模型提出了温度补偿的策略，重点对机器人自身发热情况下的运动学参数显著相关性进行了试验和理论分析。提出一种便捷的、适合工业现场环境的机器人自身发热影响动态补偿方法。综合以上原理实现的温度补偿策略，可以保证由温度变化引起的末端定位误差小于0.1 mm。

To advance the precision of the robot motion is one significant research goal of robot flexible processing issues. In the process， deformation mechanism of heat caused by temperature variation is found as one of the important reasons for affect the positioning error. The temperature compensation method suitable for the industry field was presented and testified through this paper. Effect of robot self-heating and scene environmental temperature factors on axial motion and the ending actuator positioning accuracy were analyzed. The thermal distribution and deformation models were built using finite element theory. Thermal compensation strategy was presented to accomplish the experimental and theoretical analysis of significant correlation between robot kinematics parameters and thermal models above, especially self-heating effect. It was convenient and suitable for industrial field environment. Thermal compensation is experimentally proved to carry the ability to adjust the position error of ending actuator to less than 0.1 mm.