并联机器人轨迹规划中的运动误差补偿方法研究
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摘要
运动精度是并联机器人最重要的性能指标之一，直接影响并联机器人的工作性能，是制约并联机器人进一步发展的瓶颈。因此，研究并联机器人运动误差补偿方法，提高并联机器人运动精度具有重要的理论和实际意义。本课题基于对并联机器人运动误差影响因素和运动误差补偿方法研究现状的综合分析，研究机构误差和柔性误差引起的并联机器人运动误差，分别建立相应的补偿模型，进一步提出并联机器人轨迹规划中的运动误差综合补偿方法，提高并联机器人运动精度。具体研究工作如下：
首先，基于闭环矢量法建立并联机器人机构误差模型，通过机构误差仿真分析，获得并联机器人机构误差变化规律；基于有限元理论和Lagrange方程建立并联机器人柔性误差模型，构建柔性误差熵模型从能量角度定量描述并联机器人柔性误差，通过柔性误差仿真分析，获得并联机器人柔性误差变化规律。
其次，分别研究并联机器人轨迹规划中的机构误差补偿方法和柔性误差补偿方法：基于并联机器人机构误差模型，提出基于改进粒子群算法的机构误差补偿方法，修正关节空间内驱动杆期望轨迹，进而补偿并联机器人机构误差；基于并联机器人柔性误差模型，设计基于柔性误差熵和群搜索算法的驱动杆轨迹优化方法，进而补偿并联机器人柔性误差；通过仿真分析，分别验证并联机器人轨迹规划中的机构误差补偿方法和柔性误差补偿方法的有效性。
进一步，基于并联机器人机构误差补偿方法和柔性误差补偿方法，建立并联机器人轨迹规划中的机构误差和柔性误差综合补偿模型，并分析误差综合补偿过程中机构误差和柔性误差之间的耦合误差；研究并联机器人耦合误差补偿策略，提出并联机器人运动误差综合补偿方法，通过仿真分析，验证并联机器人运动误差综合补偿方法的有效性。
最后，基于并联机床实验平台进行实验研究，进行并联机床机构误差和柔性误差建模与分析；基于所研究的并联机器人运动误差综合补偿方法，构建并联机床运动误差综合补偿模型，利用并联机床进行并联机器人运动误差补偿模拟实验，验证本文提出的并联机器人轨迹规划中的运动误差补偿方法的可行性和有效性。
The motion accuracy is one of the most important performance index of parallelrobot, which directly influences the working performance of parallel robot andrestricts the further development of parallel robot. In order to improve the motionaccuracy of parallel robot, it is essential in both theory aspect and practical aspect tostudy the compensation method for motion error. In this paper, based on thecomprehensive analysis on the research status of the influence factors andcompensation method for the motion accuracy, the mechanism error and the flexibleerror are taken into consideration and the corresponding compensation model isestablished respectively. Then a comprehensive compensation method for motion erroris proposed which can be implemented in trajectory planning process to improve themotion precision. The detail works are as follows:
Firstly, the mechanism error model of parallel robot is established based on theclosed loop vector method, and variation rules of the mechanism error are obtained bythe simulation analysis. The flexible error model of parallel robot is established basedon the finite element theory and Lagrange equation, and the entropy model of flexibleerror is established to quantitatively describe comprehensive energy of flexible error.Then the simulation analysis of the flexible error is conducted to obtain the variationrules of the flexible error.
Secondly, the compensation method for mechanism error and flexible errorimplemented in the trajectory planning process of parallel robot are researchedrespectively: Based on the mechanism error model of parallel robot, a mechanismerror compensation method based on the improved particle swarm optimizationalgorithm is proposed to correct the desired trajectory in joint space of drive rod.Meanwhile, according to the flexible error model of parallel robot, a trajectoryoptimization method for drive rod based on the flexible error entropy and groupsearching algorithm is designed to compensate the flexible error of parallel robot. Atlast, the simulation analysis is conducted respectively to verify the compensation methods for mechanism error and flexible error of parallel robot.
Furthermore, a comprehensive error compensation model implemented intrajectory planning process of parallel robot is established based on the compensationmethod for mechanism error and flexible error. The coupling error of the mechanismerror and the flexible error produced in the comprehensive compensation model isanalysed and a compensation strategy for the coupling error is presented. The validityof the comprehensive compensation method for the motion error is demonstrated bysimulation analysis.
Finally, the experimental work is carried out based on the parallel kinematicsmachine. The modeling of mechanism error and the flexible error are realized basedon the analysis of the parallel kinematics machine. Based on the proposedcompensation method, a comprehensive compensation model for motion error of theparallel kinematics machine is established. And the feasibility and effectiveness of themethod is validated by the simulating experiment conducted on the parallel kinematicsmachine.
首先，基于闭环矢量法建立并联机器人机构误差模型，通过机构误差仿真分析，获得并联机器人机构误差变化规律；基于有限元理论和Lagrange方程建立并联机器人柔性误差模型，构建柔性误差熵模型从能量角度定量描述并联机器人柔性误差，通过柔性误差仿真分析，获得并联机器人柔性误差变化规律。
其次，分别研究并联机器人轨迹规划中的机构误差补偿方法和柔性误差补偿方法：基于并联机器人机构误差模型，提出基于改进粒子群算法的机构误差补偿方法，修正关节空间内驱动杆期望轨迹，进而补偿并联机器人机构误差；基于并联机器人柔性误差模型，设计基于柔性误差熵和群搜索算法的驱动杆轨迹优化方法，进而补偿并联机器人柔性误差；通过仿真分析，分别验证并联机器人轨迹规划中的机构误差补偿方法和柔性误差补偿方法的有效性。
进一步，基于并联机器人机构误差补偿方法和柔性误差补偿方法，建立并联机器人轨迹规划中的机构误差和柔性误差综合补偿模型，并分析误差综合补偿过程中机构误差和柔性误差之间的耦合误差；研究并联机器人耦合误差补偿策略，提出并联机器人运动误差综合补偿方法，通过仿真分析，验证并联机器人运动误差综合补偿方法的有效性。
最后，基于并联机床实验平台进行实验研究，进行并联机床机构误差和柔性误差建模与分析；基于所研究的并联机器人运动误差综合补偿方法，构建并联机床运动误差综合补偿模型，利用并联机床进行并联机器人运动误差补偿模拟实验，验证本文提出的并联机器人轨迹规划中的运动误差补偿方法的可行性和有效性。
The motion accuracy is one of the most important performance index of parallelrobot, which directly influences the working performance of parallel robot andrestricts the further development of parallel robot. In order to improve the motionaccuracy of parallel robot, it is essential in both theory aspect and practical aspect tostudy the compensation method for motion error. In this paper, based on thecomprehensive analysis on the research status of the influence factors andcompensation method for the motion accuracy, the mechanism error and the flexibleerror are taken into consideration and the corresponding compensation model isestablished respectively. Then a comprehensive compensation method for motion erroris proposed which can be implemented in trajectory planning process to improve themotion precision. The detail works are as follows:
Firstly, the mechanism error model of parallel robot is established based on theclosed loop vector method, and variation rules of the mechanism error are obtained bythe simulation analysis. The flexible error model of parallel robot is established basedon the finite element theory and Lagrange equation, and the entropy model of flexibleerror is established to quantitatively describe comprehensive energy of flexible error.Then the simulation analysis of the flexible error is conducted to obtain the variationrules of the flexible error.
Secondly, the compensation method for mechanism error and flexible errorimplemented in the trajectory planning process of parallel robot are researchedrespectively: Based on the mechanism error model of parallel robot, a mechanismerror compensation method based on the improved particle swarm optimizationalgorithm is proposed to correct the desired trajectory in joint space of drive rod.Meanwhile, according to the flexible error model of parallel robot, a trajectoryoptimization method for drive rod based on the flexible error entropy and groupsearching algorithm is designed to compensate the flexible error of parallel robot. Atlast, the simulation analysis is conducted respectively to verify the compensation methods for mechanism error and flexible error of parallel robot.
Furthermore, a comprehensive error compensation model implemented intrajectory planning process of parallel robot is established based on the compensationmethod for mechanism error and flexible error. The coupling error of the mechanismerror and the flexible error produced in the comprehensive compensation model isanalysed and a compensation strategy for the coupling error is presented. The validityof the comprehensive compensation method for the motion error is demonstrated bysimulation analysis.
Finally, the experimental work is carried out based on the parallel kinematicsmachine. The modeling of mechanism error and the flexible error are realized basedon the analysis of the parallel kinematics machine. Based on the proposedcompensation method, a comprehensive compensation model for motion error of theparallel kinematics machine is established. And the feasibility and effectiveness of themethod is validated by the simulating experiment conducted on the parallel kinematicsmachine.
引文
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