运动副间隙引起的并联机器人误差及其补偿

余跃庆; 田浩

doi:10.3788/OPE.20152305.1331

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运动副间隙引起的并联机器人误差及其补偿

微纳技术与精密机械 | 更新时间：2020-08-13

- 运动副间隙引起的并联机器人误差及其补偿
- Error and compensation of parallel robot with joint clearances
- 光学精密工程 2015年23卷第5期页码：1331-1339
- 作者机构：
  
  北京工业大学机械工程与应用电子技术学院北京,100124
- 作者简介：
  
  [ "余跃庆(1958-),男,北京人,博士,教授,博士生导师,1982年、1990年于北京工业大学分别获得学士、博士学位。主要从事机构学与机器人学等方面的研究。E-mail:yqyu@bjut.edu.cn" ]
  [ "田浩(1986-),男,内蒙古呼和浩特人,博士研究生,2009年于北京工业大学获得学士学位,主要从事并联机器人运动规划与控制等方面的研究。E-mail:tankthwd@emails.bjut.edu.cn" ]
- 基金信息：
  
  国家自然科学基金资助项目(No.51175006)()
- DOI：10.3788/OPE.20152305.1331
  中图分类号： TH112;TP242.6
- 收稿日期：2014-12-20，
  
  修回日期：2015-02-05，
  
  纸质出版日期：2015-05-25
- 稿件说明：
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余跃庆, 田浩,. 运动副间隙引起的并联机器人误差及其补偿[J]. 光学精密工程, 2015,23(5): 1331-1339

YU Yue-qing, TIAN Hao,. Error and compensation of parallel robot with joint clearances[J]. Editorial Office of Optics and Precision Engineering, 2015,23(5): 1331-1339
余跃庆, 田浩,. 运动副间隙引起的并联机器人误差及其补偿[J]. 光学精密工程, 2015,23(5): 1331-1339 DOI： 10.3788/OPE.20152305.1331.

YU Yue-qing, TIAN Hao,. Error and compensation of parallel robot with joint clearances[J]. Editorial Office of Optics and Precision Engineering, 2015,23(5): 1331-1339 DOI： 10.3788/OPE.20152305.1331.

摘要

针对运动副间隙引起的并联机器人定位误差

提出了通过优化驱动杆的关节角位移参数来补偿运动副间隙误差的方法。以平面3-RRR并联机器人系统为研究对象

建立运动副误差模型

研究了间隙误差引起的杆件实际长度误差和驱动杆实际关节角位移误差的变化规律。根据机器人的逆运动学方程

建立了基于全微分理论的机构误差分析模型。应用粒子群优化(PSO)算法优化驱动杆的关节角位移参数

补偿了运动副间隙引起的系统结构误差。引入线性递减惯性权重和压缩因子对标准PSO算法进行改进

给出了算法的统一表达式。误差补偿结果显示

改进PSO算法能够有效提高优化算法的收敛性能

使用优化后的关节角位移参数得到的机器人末端轨迹误差值比未补偿轨迹降低了99%以上。仿真实验结果显示本文方法能够有效补偿运动副间隙引起的系统结构误差

保证并联机器人系统的定位精度。

Abstract

To reduce the position error of a parallel robot caused by joint clearances

a method to compensate the joint clearance errors was proposed by optimizing the joint angular displacement parameters of drivers. For the purpose of a planar 3-RRR parallel robot system

an error model of the joint was presented and the change rules of the errors of actual lengths of links and actual joint angular displacements of drivers caused by joint clearances were obtained. According to the inverse kinematics equation

the error analysis model of system was proposed by total derivative theory. The structural errors of system caused by joint clearance errors were compensated by optimizing the joint angular displacements of drivers using Particle Swarm Optimization (PSO) algorithm. By inducing the linear decreasing weight and the compression factor

the standard PSO algorithm was improved

and an unified expression of algorithms was derived. The results of error compensation show that the improved PSO algorithm is effective for improving the convergence performance. The trajectory errors of end-effecter using optimized joint angular displacements are decreased by 99% as compared with that of uncompensated trajectory. Obtained results demonstrate that the proposed method effectively compensates the structural errors caused by joint clearances and guarantees the position accuracy of parallel robot systems.

关键词

Keywords

references

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