可变胞并联机械臂样机的研制与误差分析

荣誉; 韩勇; 刘双勇; 曲梦可

doi:10.3788/OPE.20182607.1698

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可变胞并联机械臂样机的研制与误差分析

微纳技术与精密机械 | 更新时间：2020-08-13

- 可变胞并联机械臂样机的研制与误差分析
- Development and error analysis of metamorphic parallel manipulators
- 光学精密工程 2018年26卷第7期页码：1698-1707
- 作者机构：
  
  1.河北科技师范学院机电工程学院, 河北秦皇岛 066004
  2.中信戴卡股份有限公司装备研制中心, 河北秦皇岛 066004
  3.燕山大学河北省并联机器人与机电系统实验室, 河北秦皇岛 066004
- 作者简介：
  
  [ "荣誉(1981-), 男, 吉林扶余人, 博士, 副教授, 2015年于燕山大学获得博士学位, 主要从事性能可变工业机械臂、变胞变尺度机构应用方面研究。E-mail:lixiangcg@126.com" ]
  [ "韩勇(1979-), 男, 河北秦皇岛人, 学士, 工程师, 主要从事工业机器人应用方面的研究。E-mail:hanyong@dicastal.com" ]
- 基金信息：
  
  国家科技支撑计划资助项目(2015BAI06B01);河北省高等学校科学技术研究项目(QN2015185);河北省高等学校科学技术研究青年基金资助项目(QN2018024);秦皇岛市科技计划资助项目(201703A003);河北科技师范学院博士启动基金资助项目(2015YB004)
- DOI：10.3788/OPE.20182607.1698
  中图分类号： TP242.6
- 收稿日期：2017-08-09，
  
  录用日期：2017-10-8，
  
  纸质出版日期：2018-07-25
- 稿件说明：
移动端阅览
荣誉, 韩勇, 刘双勇, 等. 可变胞并联机械臂样机的研制与误差分析[J]. 光学精密工程, 2018,26(7):1698-1707.

Yu RONG, Yong HAN, Shuang-yong LIU, et al. Development and error analysis of metamorphic parallel manipulators[J]. Optics and precision engineering, 2018, 26(7): 1698-1707.
荣誉, 韩勇, 刘双勇, 等. 可变胞并联机械臂样机的研制与误差分析[J]. 光学精密工程, 2018,26(7):1698-1707. DOI： 10.3788/OPE.20182607.1698.

Yu RONG, Yong HAN, Shuang-yong LIU, et al. Development and error analysis of metamorphic parallel manipulators[J]. Optics and precision engineering, 2018, 26(7): 1698-1707. DOI： 10.3788/OPE.20182607.1698.

摘要

提出了一种通过驱动副锁定组合实现变胞的超冗余并联机械臂，其基础构型是3-PUPS并联机构，对机械臂进行了误差建模与分析，并通过标定系统测量了机械臂实验样机的定位误差。首先，提出了通过对3-PUPS机构各驱动副的组合锁定实现机械臂变胞的设计思路，从而使机械臂可以根据任务需求改变自身构型和性能；然后，采用含误差源的闭环矢量回路法，建立了机械臂3-PUPS机构的误差传递模型，并以此为基础，分析了机械臂的各误差源对其运动平台输出误差的影响规律；接着，根据各误差源对机械臂的输出误差影响程度，确定了各主要运动副配合零件的加工精度等级及公差，在此基础上研制出机械臂的实验样机；最后，采用一套高精度的工业机器人标定系统对机械臂的实验样机进行了定位误差测量，实验表明：机械臂的运动平台的位置误差均在0.005~0.038 mm之间，姿态误差均在0.010~0.044°之间，位置误差比通用式工业机器人的位置重复定位精度0.05 mm略有提高，姿态误差与通用式工业机器人的姿态重复定位精度0.045°相当。

Abstract

A new type of hyper-redundant metamorphic parallel manipulator arm was proposed. It was based on the 3-PUPS parallel mechanism and it could change its configuration by locking driving joints. Error modeling and analysis of the manipulator were done

and the positioning error of the manipulator's experimental prototype was measured by a calibration system. First

the design idea of manipulator metamorphosis by locking driving joints was proposed so it could change its configuration and performance according to the requirements of the task. Then

using the closed loop vector loop method with error sources

the manipulator's error vector model was established

and the influence of each error source on the moving platform's output errors was analyzed. In addition

according to the influence of each error source on the output errors

the machining accuracy

grade

and tolerances of the manipulator's parts were determined. Based on these

the manipulator's experimental prototype was developed. Finally

the experimental prototype's errors were measured by a high precision calibration system for industrial robots. The experimental results show:the position errors of the manipulator's moving platform were between 0.005 mm and 0.003 8 mm

and the attitude errors were between 0.010° and 0.044°. The position errors were slightly higher than the position repeatability (0.05 mm) of the general industrial robot

and the attitude errors were equivalent to the attitude repetition positioning accuracy (0.045°) of the general industrial robot.

关键词

Keywords

references

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