农业机械学报2017，Vol.48Issue(7)：383-390,8.DOI:10.6041/j.issn.1000-1298.2017.07.049
直线驱动型并联机器人误差模型与灵敏度分析
Error Modeling and Sensitivity Analysis of Linear Driven Parallel Robot
摘要
Abstract
In order to improve the position precision of moving platform end effector of linear driven parallel robot,based on structure and kinematic model of parallel mechanism,the dimension errors,driving errors and assembly errors of parallel robot which influenced accuracy of the moving platform end effector were analyzed,the non-linear mapping from the actuated variables in joint space to the pose of the end-effector in operating space was established with analytic method.On the basis of the sensitivity error model,an error source selection scheme was proposed according to the global sensitivity evaluation index,which was defined to evaluate the error source on the position error of the moving platform in given workspace,and the main error sources that affected the location accuracy was selected.It was found that the position error of the moving platform was basically the same between all error sources and selected error sources by randomly simulating the dimension errors,driving errors and assembly errors of the parallel robot with Monte Carlo method,which verified the consistency of the evaluation index.By taking laser tracker as measurement tool,the position precision of the moving platform end effector of the parallel mechanism was improved remarkably after detecting the selected main errors of the parallel robot and calibrating the forward kinematic model,which verified the validity and feasibility of the error source selection scheme and reduced the complexity and computation of the error parameter identification.It had greatly important guidance to the error compensation of the complex structure.关键词
并联机器人/误差模型/全域灵敏度/误差源筛选方案Key words
parallel robot/error modeling/global sensitivity/error source selection scheme分类
信息技术与安全科学引用本文复制引用
于今,余伟,吴超宇,程敏,钱小吾..直线驱动型并联机器人误差模型与灵敏度分析[J].农业机械学报,2017,48(7):383-390,8.基金项目
国家自然科学基金项目(51375507)和重庆市基础与前沿研究计划项目(cstc2016jcyjA0253) （51375507）
