3-RRRU并联机器人运动学建模与误差分析  

Kinematics Modeling and Error Analysis of 3-RRRU Parallel Manipulator

作　　者：赵新华[1,2] 栾倩倩[1] 赵磊[1,2] 刘凉[1,2] ZHAO Xin-hua;LUAN Qian-qian;ZHAO Lei;LIU Liang(Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,School of Mechanical Engineering,Tianjin University of Technology,Tianjin 300384,China;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education(Tianjin University of Technology),Tianjin 300384,China)

机构地区：[1]天津市先进机电系统设计与智能控制重点实验天津理工大学机械工程学院,天津300384 [2]机电工程国家级实验教学示范中心(天津理工大学),天津300384

出　　处：《机械设计与制造》2020年第1期274-276,280,共4页Machinery Design & Manufacture

基　　金：天津市高等学校科技发展基金计划项目（20140401）;天津市智能制造重大科技专项（15ZXZNGX00040、15ZXZNGX00270）

摘　　要：针对3-RRRU并联机器人控制精度问题,基于空间矢量法建立运动学正解模型以及误差模型,详细分析了机器人各结构误差源对控制精度的影响。仿真结果表明:驱动角度误差分布在0.001°~0.01°时,第一支链的驱动角误差对被控终端的精度影响最大为84.2um;连杆加工误差在0.01mm^0.1mm变化时,靠近动平台的被动杆为0.1mm时对被控终端精度影响最大,其最大误差值为137.2um;静、动平台的外接圆半径加工误差为0.1mm时,机器人终端最大误差为568.4um。因此,对于线性连杆加工误差和角度误差源,连杆加工误差对多支链、多连杆机器人精度的影响高于角度误差,且静、动平台的加工误差对机器人的终端控制精度影响最大,为后续机器人结构的最优化设计提供了理论依据。Focusing on the control precision problem of the high speed 3-RRRU parallel manipulator,the kinematic forward solution model and the error model are established based on the space vector PWM,and the influence of the structural error source of the robot on the control precision is analyzed in detail. The simulation results show that when the driving angle error is(0.001~0.01)°,the first branch of the driving angle error influences the accuracy of the controlled terminal most,which is84.2μm. When the processing error of the rod is(0.01~0.1)mm,the accuracy of the controlled terminal is greatly affected by the passive rod near the dynamic platform,and the maximum terminal e rror is 137.2μm. When the processing error of the circumscribed circle radius of the static and dynamic platform is 0.1 mm,the maximum error of the controlled terminal is 568.4μm.Therefore,comparing the processing error source of the liner rod and the error source of the driving angle,the processing error of the liner rod has more influence on the accuracy of the branched and multi-rod robot than the driving angle error.Besides,the terminal control precision of the robot is greatest influenced by the processing error of the circumscribed circle radius of the static and dynamic platform. This study provides the theoretical basis for the optimal design of the robot structure.

关 键 词：并联机器人 运动学模型 误差分析 精度 

分 类 号：TH16[机械工程—机械制造及自动化] TH123.1