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

作　　者：赵延治[1,2] 宋晓鑫[1,2] 杨建涛[1,2] 齐立哲[3] 何勇 赵铁石[1,2] 

机构地区：[1]燕山大学河北省并联机器人与机电系统实验室,秦皇岛066004 [2]先进锻压成形技术与科学教育部重点实验室(燕山大学),秦皇岛066004 [3]天津智通机器人系统有限公司,天津301700 [4]中国科学院深圳先进技术研究院,深圳518055

出　　处：《中国机械工程》2017年第18期2189-2197,共9页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(50975244);河北省自然科学基金资助项目(E2014203176);河北省高等学校自然科学研究基金资助项目(QN2015040);中国博士后科学基金资助项目(2016M590212)

摘　　要：基于并联机器人影响系数和虚位移原理,以一般空间并联机器人为例,通过虚设运动副,提出一种并联机器人静态误差建模与分析的通用新方法。该方法用于确定各个原始加工装配误差源对并联机器人末端位姿的独立影响,具有物理意义明确、建模分析便捷等优势。在此基础上,基于虚设运动副建立了3-P(4S)并联机器人各误差映射矩阵,并对该机器人开展了静态误差标定实验研究。实验结果表明,基于该方法标定后,3-P(4S)并联机器人输出定位误差最大值由0.585mm减小到0.142mm,标定后机器人定位精度明显提高,从而验证了该方法的有效性。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 processing assembly sources of errors for the end-pose were determined,the physical meaning of the proposed method was clear and the modelling and analysis processes were convenient.Based on this,taking 3-P（4S） parallel robot as the research object,the mapping matrix of each error sources was obtained by VJP,and the error calibrations of robots were conducted.The experimental results show that the maximal positioning error is decreased from 0.585 mm to 0.142 mm,accuracy of the robot outputs 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 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]