冗余驱动并联机械手运动精度校准方法研究  

Research on Motion Accuracy Calibration Method of Redundant Driven Parallel Manipulator

作　　者：张凯[1] 孙德全 刘石林 ZHANG Kai;SUN De-quan;LIU Shi-lin(School of Mechanical and Electrical Engineering,Zhengzhou Tourism Vocational College,He’nan Zhengzhou 451464,China;School of Mechanical and Electrical Engineering,He’nan University of Science and Technology,He’nan Luoyang 471000,China)

机构地区：[1]郑州旅游职业学院机电工程学院,河南郑州451464 [2]河南科技大学机电工程学院,河南洛阳471000

出　　处：《机械设计与制造》2024年第4期317-324,共8页Machinery Design & Manufacture

基　　金：2020年度河南省重点研发计划项目—可重构型索驱动并联机器人工作空间分析与控制(2020HB096)。

摘　　要：针对冗余驱动并联机械手(RAPM)的运动精度,以某三自由度主轴头为例,提出了一种基于最小误差模型的运动精度校准方法。首先通过消除冗余几何源误差,建立包含最少几何源误差的最小误差模型,采用蒙特卡罗模拟进行几何源误差灵敏度分析,研究各几何源误差对终端精度的相对影响。在此基础上提出了粗校准和精校准相结合的分层辨识策略,以实现冗余驱动并联机械手的精度校准。最后通过校准实验测试表明,所提出的校准方法能够大幅降低冗余驱动并联机械手的终端误差,验证了所提校准方法的有效性。Aiming at the motion accuracy of redundant driven parallel manipulator(RAPM),taking a three degree of freedom spindle head as an example,a motion accuracy calibration method based on minimum error model is proposed.Firstly,by elimi-nating the redundant geometric source error,the minimum error model including the minimum geometric source error is estab-lished,and the sensitivity of geometric source error is analyzed by Monte Carlo simulation to study the relative impact of each geo-metric source error on terminal accuracy.On this basis,a hierarchical identification strategy combining coarse calibration and fine calibration is proposed to realize the accuracy calibration of redundant driven parallel manipulator.Finally,the calibration experiments show that the proposed calibration method can greatly reduce the terminal error of redundant driven parallel manipu-lator,and verify the effectiveness of the proposed calibration method.

关 键 词：冗余驱动并联机械手 运动学校准 误差建模 敏感性分析 误差校准 

分 类 号：TH16[机械工程—机械制造及自动化]