含关节间隙的并联机器人运动误差分析

Motion error analysis of parallel roboTSwith joint clearance

为获得平面冗余并联机器人运动副间隙误差变化关系,进行机构建模仿真,得出运动副间隙对机构执行点轨迹精度的影响规律。基于独立支链系统建立含转动副关节间隙误差的数学模型,利用Adams仿真软件,引入弹簧阻尼法理论基础建立含关节间隙的并联机构虚拟样机,完成含有不同运动副间隙误差的并联机器人的运动仿真。采用仿真分析与数值理论计算相结合的方法,得出在并联机构中,各运动副在不同间隙误差尺寸下对末端输出位置影响不同。为后续提高并联机器人运动精度及改善运动性能提供参考依据。

In order to obtain the change relationship of motion pair clearance error on planar redundant parallel robots,the mechanism modeling simulation is carried out,and the influence law of the joint clearance on the trajectory accuracy of the mechanism execution point is obtained.Based on the independent branch system,the mathematical model of the clearance error of the revolute joint is established.The Adams simulation software is used to introduce the theoretical basis of the spring damping method to establish the virtual prototype of the parallel mechanism with joint clearance,and the motion simulation of the parallel robot with different motion pair clearance error is completed.The combination of simulation analysis and numerical theory calculation shows that in the parallel mechanism,each motion pair has different influence on the end output position in different clearance error sizes,which provides a reference for improving the motion precision and the motion performance of the parallel robot.