直线驱动型并联机器人误差模型与灵敏度分析

发布时间：2018-04-14 11:16

本文选题：并联机器人 + 误差模型　；参考：《农业机械学报》2017年07期

【摘要】：为提高直线驱动型并联机器人动平台末端执行器位置精度,根据并联机构结构和运动学模型,对影响末端位置精度的各项误差源进行了分析,利用解析法建立动平台末端操作空间与关节空间之间的误差映射模型;在灵敏度误差模型的基础上,依据全域灵敏度评价指标,提出了一种误差源筛选方案,筛选影响位置精度的主要误差源,利用蒙特卡洛法随机模拟并联机器人中各零部件的尺寸误差、驱动误差和装配误差,得知筛选前后动平台位置误差基本一致,验证了评价指标的正确性。以激光跟踪仪为测量工具在任务空间中取点测量,对筛选后的主要误差源进行辨识,修正并联机构的正向运动学模型后,并联机构末端位置精度改善显著,验证了误差源筛选方案的有效性和可行性,减轻了误差参数辨识的复杂程度和计算量,对结构较复杂的机构误差补偿具有一定的指导意义。
[Abstract]:In order to improve the position accuracy of the end actuator of a linear parallel robot, the error sources affecting the end position accuracy are analyzed according to the structure of the parallel mechanism and the kinematics model.The error mapping model between the terminal operating space and joint space of moving platform is established by analytic method, and an error source screening scheme is proposed based on the sensitivity error model and the index of sensitivity evaluation in the whole field.The main error sources affecting the position accuracy are screened, and the dimension error, drive error and assembly error of each component in the parallel robot are simulated by Monte Carlo method. The results show that the position error of the moving platform before and after screening is basically the same.The correctness of the evaluation index is verified.The laser tracker is used as the measuring tool to measure the points in the mission space, and the main error sources after screening are identified. After modifying the forward kinematics model of the parallel mechanism, the accuracy of the end position of the parallel mechanism is improved significantly.The validity and feasibility of the error source selection scheme are verified, and the complexity and calculation of error parameter identification are reduced, which is of certain guiding significance to the error compensation of the mechanism with more complicated structure.
【作者单位】：重庆大学机械传动国家重点实验室;镇江高等专科学校数理化工系;
【基金】：国家自然科学基金项目(51375507) 重庆市基础与前沿研究计划项目(cstc2016jcyjA0253)
【分类号】：TP242

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