高速平面6杆并联机器人运动学建模与误差分析

Kinematic Modeling and Error Analysis of the Plane Six Pole Parallel Robot in High-Speed

并联机器人具有负载能力强、运动速度快和刚度大等优点,弥补了串联机器人的不足,使得并联机构成为一个潜在的高速度、高精度运动平台。平面6杆并联机器人改善了经典平面5杆并联机构工作空间内存在较多的奇异性和承载能力差、刚度低的缺陷。基于高速平面6杆并联机器人结构,建立了运动学正向和逆向求解模型;针对机构存在的基座定位误差、驱动角误差和连杆加工误差对控制精度的影响进行了系统、深入地研究,为实现机器人结构的最优化设计和高速、高精度控制,奠定了理论基础。

Parallel robots have some advantages of strong load capacity, fast speed moving and large stiffness. It makes up for the deficiency of series robot and will become a potential platform with high speed and high precision. These problems of more singularities in working space, poor bearing capacity and low stiffness about classic five pole parallel robot have been improved in plane six pole parallel robot system Kinematic positive and reverse solution model is established based on the structure of high speed six pole parallel robot system. The influence of location error of foundation bed, driving angle error and rod processing error to control accuracy is systematically and deeply researched. Theoretical basis has been established to realize optimal design of robotic structure and controlling in high speed, high precision.