4-RR(SS)_(2)高速并联机器人误差建模与运动学标定  

The modeling and kinematic calibration of a 4-R R(SS)_(2) high speed parallel robot

作　　者：来海滨 汪满新[1] 张宇轩 Lai Haibin;Wang Manxin;Zhang Yuxuan(School of Mechanical Engineering,Nanjing University of Science and Technology,Jiangsu Nanjing,210094,China)

机构地区：[1]南京理工大学机械工程学院,江苏南京210094

出　　处：《机械设计与制造工程》2025年第2期29-35,共7页Machine Design and Manufacturing Engineering

基　　金：国家自然科学基金(51605225)。

摘　　要：为了提高机器人工作时的运动精度,减少误差,提出了一种新型四自由度高速并联机器人的运动学标定方法。首先使用闭环矢量法构建该机器人误差模型,进而分离出机构的不可补偿误差源和可补偿误差源。然后使用最小二乘法建立误差辨识模型,进一步采用修正系统输入的方法进行误差补偿。最后对补偿前后的精度变化进行了仿真,结果表明,所提出的运动学标定方法能有效提高运动精度。A kinematic calibration method for 4-DOF high-speed parallel robot is studied.By using the error loop closure method,an error model of the robot is established considering realistic joint characteristic.Based on the error model,the uncompensable and conpensable errors of the whole mechanism are sorted out.An error identification model is further established by using the least squares method,then the error compensation is performed by using a method of correcting the system input.The simulation results show that the proposed kinematics calibration method can effectively improve the motion accuracy.

关 键 词：运动学标定 并联机器人 误差建模 灵敏度分析 

分 类 号：TH122[机械工程—机械设计及理论]