Delta机器人刚-柔混合位置误差建模与补偿分析

Error modeling and compensation analysis of Delta robot rigid-flexible hybrid position

以Delta机器人系统为研究对象。首先,根据其机构特点,基于几何空间矢量法,建立了刚体系统误差模型。其次,根据柔性杆件弹性变形特性,基于空间有限元理论,在建立系统弹性动力学模型的基础上建立了柔体系统误差模型。然后,综合考虑两种误差模型建立了系统的刚-柔混合位置误差模型。经分析,提出了一种通过调整主动臂输入角的实际值对动平台位置误差进行补偿的方案,并利用Newton插值法阐述了寻求任意时间点处误差补偿值的算法步骤,在关节空间中对主动臂进行了基于修正梯形模式的轨迹规划。最后,利用试验算例对刚-柔混合位置误差模型与补偿方案进行了验证分析。

The Delta robot system was set as the research object. Firstly, according to the characteristics of its mechanism, the rigid body system error model established based on the geometry of space vector method. Secondly, according to the flexible rod elastic deformation characteristics, based on space finite element theory, the flexible body system error model was estab- lished on the basis of the system elastic dynamics model. Then, considering the two kinds of error model, the rigid-flexible hy- brid position error model of the system was established, a scheme of adjusting the input angle values of the driving arm to com- pensate the position error of the moving platform was proposed through the analysis. The algorithm steps of seeking any time point of error compensation value was elaborated based on Newton interpolation methoed. The trajectory planning based on mod- ified trapezoidal mode was performed on the active arm in the joint space. Finally, the experimental example was used to verify and analyze the rigid-flexible hybrid position error model and the compensation scheme.