摘要
类Delta机器人在现代智能制造领域占据关键地位,但其误差问题严重制约了机器人的性能提升与应用拓展。本文旨在实施误差补偿策略,提升类Delta机器人的运动精度,运用机器人闭环矢量法求解机器人运动学正逆解。根据微小摄动理论构建误差源与输出误差的映射关系,分析影响机器人运动精度的30项几何误差;采用粒子群优化算法优化驱动位移参数,实现机器人动平台位姿误差补偿。通过Matlab软件进行仿真实验,获取补偿前后动平台运动误差效果图。结果表明,所建的类Delta机器人误差映射模型,借助粒子群优化算法能有效补偿误差,显著改善机器人运动精度,成功补偿动平台几何误差,x轴误差均值下降67.2%,y轴误差均值下降94.6%,z轴误差均值下降31.6%。研究为提升类Delta机器人运动精度提供有效途径,为类Delta机器人误差补偿技术从理论迈向实际应用奠定基础。
The Delta-like robot occupies a crucial position in the field of the modern intelligent manufacturing.However,its error problem severely restricts the performance improvement and application expansion of the robot.Aims to implement an error compensation strategy to improve the motion accuracy of the Delta-like robot.The closed-loop vector method of the robot is employed to solve the forward and inverse kinematic solutions of the robot.According to the theory of small perturbations,the mapping relationship between error sources and output errors is constructed,and 30 geometric errors that affect the motion accuracy of the robot are analyzed.The particle swarm optimization algorithm is used to optimize the driving displacement parameters and achieve precise compensation for the errors of the robot's moving platform.Simulation experiments are carried out through Matlab software to obtain the error effect diagrams of the moving platform before and after compensation.The results show that the established error mapping model of the Delta-like robot can effectively compensate for errors with the help of the particle swarm optimization algorithm,significantly improving the motion accuracy of the robot.The geometric error of the moving platform is successfully compensated.The research findings indicate that the average error of the x-axis decreases by 67.2%,the average error of the y-axis decreases by 94.6%,and the average error of the z-axis decreases by 31.6%.This study provides an effective way to improve the accuracy of Delta-like robots and will lay the foundation for the transition of the error compensation technology of Delta-like robots from theory to practical application.
作者
李睿哲
徐东涛
LI Ruizhe;XU Dongtao(School of Mechanical Engineering and Automation,University of Science and Technology Liaoning,Anshan 114051,China)
出处
《辽宁科技大学学报》
2025年第3期212-218,共7页
Journal of University of Science and Technology Liaoning
基金
辽宁省高校基本科研业务费项目(LJ212410146001)
辽宁科技大学大学生创新创业训练计划(2025年)。
关键词
类Delta机器人
粒子群优化算法
几何误差精度
误差补偿
运动学正逆解
Delta-like robots
particle swarm optimization algorithm
geometric error accuracy
error compensation
kinematic positive and negative solutions
作者简介
李睿哲(2004-),男,辽宁沈阳人。研究方向:并联机构误差分析;通信作者:徐东涛(1975-),男,辽宁海城人,教授。研究方向:调节阀流致振动与噪声研究、并联机器人运动可靠性分析。
