一种可控机构式码垛机器人的间隙误差补偿  

Error compensation of a controllable mechanism type palletizing robot with joint clearance

作　　者：唐俊杰 晏紫琦 徐敬彭 蔡敢为[1] TANG Jun-jie;YAN Zi-qi;XU Jing-peng;CAI Gan-wei(College of Mechanical Engineering,Guangxi University,Nanning 530004,China)

机构地区：[1]广西大学机械工程学院

出　　处：《广西大学学报（自然科学版）》2019年第3期606-612,共7页Journal of Guangxi University（Natural Science Edition）

基　　金：国家自然科学基金资助项目(51765005、51365004);广西自然科学基金资助项目(2014GXNSFDA118033)

摘　　要：基于可控机构的理念,以提高承载能力和运动精度为目的,设计出一种新型可控式码垛机器人。在此基础上,考虑受力变换频繁的两关节处的运动副间隙,依据连续接触模型建立含间隙可控码垛机器人的运动误差模型。利用改进的粒子群算法优化驱动杆位移参数,进而补偿了由运动副间隙引起的结构误差。结果表明,该方法能有效补偿间隙误差,可较好提升码垛机器人的运动精度。Based on the concept of controllable mechanism,a kind of palletizing robot with parallel structure is designed to improve carrying capacity and working accuracy.On this basis,two imperfect joints are considered and error model of palletizing robot is established according to the continuous contact model.The structure error,caused by joint clearance,is equalized by transforming the pose error compensation to driven link parameters optimization problems based on the improved particle swarm optimization algorithm.The error caused by joint clearance is decreased rapidly and the kinematic accuracy is improved drastically by adopting this scheme.

关 键 词：可控机构 码垛机器人 运动副间隙 粒子群优化 误差补偿 

分 类 号：TH112[机械工程—机械设计及理论]