中国机械工程2017，Vol.28Issue(18)：2189-2197,9.DOI:10.3969/j.issn.1004-132X.2017.18.007
基于虚设运动副的并联机器人静态误差建模与标定
Static Error Modelling and Calibration for Parallel Robots Based on Virtual Joint Pairs
摘要
Abstract
Based on the principles of parallel robot influence coefficient and virtual displacement,a case analysis of general space parallel robot,a new generalized method for parallel robot static error modelling was proposed by virtual joint pairs(VJP).The independent effects of each original process-ing assembly sources of errors for the end-pose were determined,the physical meaning of the pro-posed method was clear and the modelling and analysis processes were convenient.Based on this,tak-ing 3-P (4S)parallel robot as the research object,the mapping matrix of each error sources was ob-tained by VJP,and the error calibrations of robots were conducted.The experimental results show that the maximal positioning error is decreased from 0.585mm to 0.142mm,accuracy of the robot out-puts after calibrations is improved significantly than that without calibrations based on this method, and the effectiveness of the method was validated further.关键词
并联机器人/静态误差建模/虚设运动副/误差映射矩阵Key words
parallel robot/static error modelling/virtual j oint pair/error mapping matrix分类
信息技术与安全科学引用本文复制引用
赵延治,宋晓鑫,杨建涛,齐立哲,何勇,赵铁石..基于虚设运动副的并联机器人静态误差建模与标定[J].中国机械工程,2017,28(18):2189-2197,9.基金项目
国家自然科学基金资助项目(50975244) （50975244）
河北省自然科学基金资助项目(E2014203176) （E2014203176）
河北省高等学校自然科学研究基金资助项目(QN2015040) （QN2015040）
中国博士后科学基金资助项目(2016M590212) （2016M590212）
