一种3自由度并联柔索驱动机器人的精度研究

研究了一种3自由度并联柔索驱动机器人精度分析和精度综合的问题.分析了影响机器人位姿精度的主要因素,推导建立了关节误差及柔索误差模型.提出了一种精度综合算法,并基于给定的机器人关节允差,综合分析出装配误差及柔索误差的最大取值.通过仿真验证了误差模型的正确性.样机试验表明,利用柔索误差模型可以提高机器人的运动精度.

Accuracy analysis and synthesis of a 3 DOF parallel wire driven robot(PWDR)are studied.Major factors influencing the pose accuracy of the robot are analyzed,and models of joint errors and wire errors are established.An accuracy synthesis algorithm is presented,and with allowable error of robot joint given,maximums of the assemblage error and the wire error are analyzed synthetically.The error models are validated by simulation.Experiments on the prototype indicate that kinematics accuracy of the robot can be improved with the wire error model.

国家自然科学基金(50275143)