并联机器人误差辨识研究

本文对考虑输入误差、间隙及结构参数误差的并联机器人位姿误差进行了研究,并在此基础上对机械手的位姿误差进行了统计分析。从统计分析的位姿误差表达式入手,应用最小二乘技术,对矛盾方程组求解,导出了并联机器人机构的各个原始误差参数的数学表达式。利用该数学表达式,可方便地求出其机构的输入参数偏差,运动副间隙和结构参数误差等多种原始误差数值。

Study on Error Ibentification of Parallel Robot

This paper studies the position-gesture errors of parallel robot, which has been considered with parameter deviations, clearance and structurs, errors And at this basis, it analyses the position-gesture errors of mechanical hand statistically. At the beginning of analysing the expression of position-gesture errors, it derives the mathematical exrpession of each original error parameter of parallel robot mechanism applying the technique of method of least squares and solving the paradox coupled equation. Utilising this mathematical expression, it is convenient to solve multiple original error numerical values of input parameter beviations, kinematic pair clearance errors, mechanism parameter errors and so on.