基于空间相似性的蛇形机械臂末端定位精度补偿研究  

Study on End-effector Positioning Accuracy Compensation of Snake-like Manipulator Based on Spatial Similarity

作　　者：吴成峰 陈策 王涛[2] 王洁[2] 张建卓[2] 樊睿 WU Chengfeng;CHEN Ce;WANG Tao;WANG Jie;ZHANG Jianzhuo;FAN Rui(Shandong Yankuang Intelligent Manufacturing Co.,Ltd.,Zoucheng Shandong 273500,China;School of Mechanics and Engineering,Liaoning Technical University,Fuxin Liaoning 123000,China)

机构地区：[1]山东兖矿智能制造有限公司,山东邹城273500 [2]辽宁工程技术大学,辽宁阜新123000

出　　处：《佳木斯大学学报（自然科学版）》2024年第5期66-69,112,共5页Journal of Jiamusi University：Natural Science Edition

摘　　要：针对线驱动蛇形机械臂末端定位精度问题开展研究。根据蛇形机械臂的结构,建立机械臂运动学解耦方程,以机械臂定位误差的空间相似性分析为基础,对机械臂的运动学参数标定开展分析,提出一种机械臂末端定位误差线性无偏最优估计的非运动学标定方法,实现误差的准确预测,提出了机械臂定位误差补偿方法。搭建了蛇形机械臂实验平台,进行基于空间相似性的末端定位误差补偿实验,结果表明,提出的定位误差补偿方法有效。This study focuses on the problem of end-effector positioning accuracy of a snake-like mechanical arm.According to the structure of the snake-like manipulator,the kinematic decoupling equations of the manipulator were established.On the basis of the spatial similarity analysis of the positioning error of the manipulator,the kinematic parameter calibration of the manipulator was analyzed,and a non-kinematic calibration method for linear unbiased optimal estimation of the end-effector positioning error of the manipulator was proposed to achieve accurate error prediction.The snake-like manipulator experimental platform was built,and an end-effector positioning error compensation experiment based on spatial similarity was carried out.The experimental results showed that the proposed positioning error compensation method is effective.

关 键 词：蛇形机械臂 运动学参数 参数辨识 空间相似性 精度补偿 

分 类 号：TB383[一般工业技术—材料科学与工程]