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作 者:朱超 孙载超 张俊[1] Zhu Chao;Sun Zaichao;Zhang Jun(School of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350108,China)
机构地区:[1]福州大学机械工程及自动化学院,福建福州350108
出 处:《机械传动》2023年第1期11-16,共6页Journal of Mechanical Transmission
基 金:福建省自然科学基金(2020J06010);福建省高校产学合作基金(2019H6006);机械传动国家重点实验室开放基金(SKLMT-ZDKFKT-202003)。
摘 要:提出了一种2UPS&UPR&UP型并联机器人的精度综合方法。基于理想运动学方程,利用摄动法建立该机器人的误差映射模型,并分离出可补偿误差源与不可补偿误差源;建立不可补偿误差源与末端姿态误差的标准差关系,揭示了工作空间内末端姿态误差标准差的分布情况;利用灵敏度系数法对机器人不可补偿误差源进行灵敏度分析,确定各不可补偿误差源对末端运动精度的影响程度;依据3σ原则,以灵敏度指标作为分配系数,通过精度综合得到给定末端精度下的不可补偿误差源的值,为机器人加工制造提供理论依据。仿真实验验证了该方法的有效性。An accuracy synthesis approach for a 2UPS & UPR & UP parallel robot is proposed. Based on the nominal kinematic equations, an error mapping model of the robot is established using the perturbation method, and the compensable and uncompensable geometric error sources are sorted out. The standard deviation relationship between the uncompensable error sources and the terminal attitude errors is established to reveal the standard deviation distribution of the terminal attitude error in the workspace. A sensitivity analysis of the uncompensable error sources is carried out to determine the influence of each uncompensable geometric error source on the terminal accuracy. According to the 3σ principle, the sensitivity index is taken as the allocation coefficient, and the values of the uncompensable error sources under the given terminal accuracy are obtained through the accuracy synthesis. The proposed approach can provide a theoretical basis for the manufacturing of the robot, and the effectiveness of the proposed method is verified by simulation.
分 类 号:TP242[自动化与计算机技术—检测技术与自动化装置]
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