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为了提高精密小型Hexapod并联机器人的运行精度,对机器人进行了标定实验及精度分析.推导了Hexapod机器人结构参数的误差模型、设计了标定步骤和算法,并在三坐标测量机上对机器人进行标定实验;从机构角度对Hexapod机器人的间隙误差来源进行了分析,并推导了间隙误差对机器人位姿误差的映射关系数学模型;推导并分析了计算过程中最小二乘误差、牛顿-拉普森迭代误差的数学模型,分析了机器人结构参数的辨识精度.标定实验结果表明:经过误差补偿,机器人位姿坐标的最大位移误差由0.267 6 mm降为0.010 5 mm;最大转角误差由0.006 8 rad降为0.001 1 rad.Hexapod机器人标定及精度分析方法对于开发精密型并联机器人具有参考价值.
In order to improve the running accuracy of the precision small Hexapod parallel robot, the calibration experiment and the precision analysis of the robot were carried out.The error model of the structure parameters of Hexapod robot was deduced, the calibration steps and algorithms were designed, and the robot calibration experiment was carried out on the CMM. From the perspective of mechanism, the gap error of Hexapod robot is analyzed, and the mathematic model of mapping error of gap error to robot pose error is deduced. The least squares error, Newton-Raphson iterative error Mathematical model to analyze the identification accuracy of the robot structural parameters.The results of calibration experiments show that the maximum displacement error of the robot’s position and orientation coordinates decreases from 0.267 6 mm to 0.010 5 mm after error compensation and the maximum angular error decreases from 0.006 8 rad to 0.001 1 rad.Hexapod robot calibration and precision analysis method for the development of precision parallel robot has a reference value.