农业机械学报2024，Vol.55Issue(7)：439-448,458,11.DOI:10.6041/j.issn.1000-1298.2024.07.043
基于参数辨识的并联机器人误差模型研究
Error Analysis Model of Parallel Robot Based on Parameters Identification
摘要
Abstract
Error modeling and analysis are important prerequisites for ensuring the operational accuracy of robots,and many modeling methods were proposed by scholars in the past.However,few literatures directly verified the correctness of the established error model through either theoretical derivation or experimental means.To this end,an error model verification method of parallel robots based on parameter identification was proposed,which aimed to directly verify the rationality of the established error model through experiments.Firstly,the parameter identification model was established to acquire the actual structural parameters of the parallel robot,to establish the actual kinematics model.On this basis,the error model of the actual parallel robot was established by using the partial differential theory,the error parameters in the actual error model were quantitatively analyzed,and the influence of each error parameter on the pose error of the end-effector was obtained.Then,the influence of each error parameter on the pose of the end-effector was mapped to the joint input to drive the parallel robot to execute the error model verification experiment.Finally,the 3-PUU parallel robot was taken as the object for error analysis and experimental verification.The position data collected by the laser tracker were compared with the results of error model analysis.The maximum deviation between the two was 0.50 mm,with the average deviation maintained within 0.31 mm,which intuitively indicated the rationality and correctness of the established error model.关键词
并联机器人/参数辨识/误差分析/误差模型Key words
parallel robot/parameter identification/error analysis/error model分类
信息技术与安全科学引用本文复制引用
梁鸿键,陈南霆,陈明方,胡俊楠,武学岩,吕娟..基于参数辨识的并联机器人误差模型研究[J].农业机械学报,2024,55(7):439-448,458,11.基金项目
国家自然科学基金项目(52265001) （52265001）
