Accuracy Synthesis of a 2UPS &amp; UPR &amp; UP Parallel Robot

Zhu Chao; Sun Zaichao; Zhang Jun

doi:10.16578/j.issn.1004.2539.2023.01.002

您当前的位置：

首页 >

文章列表页 >

Accuracy Synthesis of a 2UPS & UPR & UP Parallel Robot

Theory·Research | 更新时间：2023-06-07

- Accuracy Synthesis of a 2UPS & UPR & UP Parallel Robot
- Journal of Mechanical Transmission Vol. 47, Issue 1, Pages: 11-16(2023)
- 作者机构：
  
  福州大学机械工程及自动化学院，福建福州 350108
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2023.01.002
  CLC：
- Published：15 January 2023，
  
  Received：06 December 2021，
  
  Revised：11 March 2022，
扫描看全文
朱超,孙载超,张俊.2UPS & UPR & UP型并联机器人精度综合[J].机械传动,2023,47(01):11-16.

Zhu Chao,Sun Zaichao,Zhang Jun.Accuracy Synthesis of a 2UPS & UPR & UP Parallel Robot[J].Journal of Mechanical Transmission,2023,47(01):11-16.
朱超,孙载超,张俊.2UPS & UPR & UP型并联机器人精度综合[J].机械传动,2023,47(01):11-16. DOI： 10.16578/j.issn.1004.2539.2023.01.002.

Zhu Chao,Sun Zaichao,Zhang Jun.Accuracy Synthesis of a 2UPS & UPR & UP Parallel Robot[J].Journal of Mechanical Transmission,2023,47(01):11-16. DOI： 10.16578/j.issn.1004.2539.2023.01.002.

摘要

提出了一种2UPS

UPR

UP型并联机器人的精度综合方法。基于理想运动学方程，利用摄动法建立该机器人的误差映射模型，并分离出可补偿误差源与不可补偿误差源；建立不可补偿误差源与末端姿态误差的标准差关系，揭示了工作空间内末端姿态误差标准差的分布情况；利用灵敏度系数法对机器人不可补偿误差源进行灵敏度分析，确定各不可补偿误差源对末端运动精度的影响程度；依据3

原则，以灵敏度指标作为分配系数，通过精度综合得到给定末端精度下的不可补偿误差源的值，为机器人加工制造提供理论依据。仿真实验验证了该方法的有效性。

Abstract

An accuracy synthesis approach for a 2UPS

UPR

UP parallel robot is proposed. Based on the nominal kinematic equations

an error mapping model of the robot is established using the perturbation method

and the compensable and uncompensable geometric error sources are sorted out. The standard deviation relationship between the uncompensable error sources and the terminal attitude errors is established to reveal the standard deviation distribution of the terminal attitude error in the workspace. A sensitivity analysis of the uncompensable error sources is carried out to determine the influence of each uncompensable geometric error source on the terminal accuracy. According to the 3

principle

the sensitivity index is taken as the allocation coefficient

and the values of the uncompensable error sources under the given terminal accuracy are obtained through the accuracy synthesis. The proposed approach can provide a theoretical basis for the manufacturing of the robot

and the effectiveness of the proposed method is verified by simulation.

关键词

并联机器人误差建模精度分析精度综合

Keywords

Parallel robotError modelAccuracy analysisAccuracy synthesis

references

BRINKER J，CORVES B，TAKEDA Y.Kinematic performance evaluation of high-speed Delta parallel robots based on motion/force transmission indices［J］.Mechanism and Machine Theory，2017，125：111-125.

BI W Y，XIE F G，LIU X J，et al.Optimal design of a novel 4-degree-of-freedom parallel mechanism with flexible orientation capability［J］.Proceedings of the Institution of Mechanical Engineers Part B-Journal of Engineering Manufacture，2019，233（2）：632-642.

WANG D，WANG L P，WU J，et al.An experimental study on the dynamics calibration of a 3-DOF parallel tool head［J］.IEEE/ASME Transactions on Mechatronics，2019，24（6）：2931-2941.

贺礼，巫世晶.Delta型并联机器人的位姿误差模型建立与求解［J］.机械传动，2015，39（5）：6-10.

HE Li，WU Shijing.Establishment and solution of the error model for Delta parallel robot［J］.Journal of Mechanical Transmission，2015，39（5）：6-10.

李平，彭斯洋，车林仙，等.并联机构位置正解的人工蜂群和牛顿组合算法［J］.机械传动，2019，43（4）：44-50.

LI Ping，PENG Siyang，CHE Linxian，et al.Artificial bee colony and Newton algorithm for forward position solution of parallel mechanism［J］.Journal of Mechanical Transmission，2019，43（4）：44-50.

CHEN S L，CHANG T H，HSEI M H.Analytical modelling of the effects of manufacturing errors on the accuracy for a TRR-XY hybrid parallel link machine tool［J］.Proceedings of the Institution of Mechanical Engineers Part B-Journal of Engineering Manufacture，2001，215（9）：1203-1216.

潘芳伟.基于自适应遗传算法的新型6自由度并联机器人精度综合［J］.机械设计，2009，26（8）：28-31.

PAN Fangwei.Accuracy synthesis of new typed 6-DOF parallel robot based on self-adaptive genetic algorithm［J］.Journal of Machine Design，2009，26（8）：28-31.

LI X Y，CHEN W Y.Accuracy synthesis of redundant parallel kinematic mechanism with weighted least square method［J］.Key Engineering Materials，2012（499）：3-8.

翟亚普.一种新型四自由度姿态调整机构的误差补偿策略研究［D］.天津：天津大学，2016：18-35.

ZHAI Yapu.Error compensation strategy of a 4-DOF pose-adjustment parallel mechanism［D］.Tianjin：Tianjin University，2016：18-35.

汤萍，程刚，顾伟，等.3SPS+1PS并联仿生试验机误差建模与仿真［J］.机械传动，2012，36（7）：38-42.

TANG Ping，CHENG Gang，GU Wei，et al.Error model and simulation of 3SPS+1PS parallel bionic test mechanism［J］.Journal of Mechanical Transmission，2012，36（7）：38-42.

张俊，蒋舒佳，池长城.2UPR&2RPS型冗余驱动并联机器人的运动学标定［J］.机械工程学报，2021，57（15）：62-70.

ZHANG Jun，JIANG Shujia，CHI Changcheng.Kinematic calibration of a 2UPR&2RPS redundantly actuated parallel［J］.Journal of Mechanical Engineering，2021，57（15）：62-70.

刘海涛，潘巧，尹福文，等.TriMule混联机器人的精度综合［J］.天津大学学报（自然科学与工程技术版），2019，52（12）：1245-1254.

LIU Haitao，PAN Qiao，YIN Fuwen，et al.Accuracy synthesis of the TriMule hybrid robot［J］.Journal of Tianjin University （Science and Technology），2019，52（12）：1245-1254.

石宏，朱宁，李伟楠，等.基于并联机器人的柔性装配工装构型精度综合［J］.机械传动，2014，38（1）：8-12.

SHI Hong，ZHU Ning，LI Weinan，et al.Accuracy synthesis of flexible assembly fixture configuration based on parallel robot［J］.Journal of Mechanical Transmission，2014，38（1）：8-12.

XIONG J，HAN X，CHEN W.Study on the accuracy of 3-RPS parallel machine tools［J］.Key Engineering Materials，2009（407/408）：89-93.

TANG X，CHAI X，TANG L，et al.Accuracy synthesis of a multi-level hybrid positioning mechanism for the feed support system in FAST［J］.Robotics and Computer-Integrated Manufacturing，2014，30（5）：565-575.

YAO T K，ZHOU X，ZHOU F，et al.Accuracy synthesis of a 3-RPS parallel robot based on manufacturing costs［C］//Proceedings of the 31st Chinese Control Conference，2012：5168-5172.

刘含玮，王洪光，李树军，等.一种3自由度并联柔索驱动机器人的精度研究［J］.机器人，2008，30（5）：392-397.

LIU Hanwei，WANG Hongguang，LI Shujun，et al.On accuracy of a three DOF parallel wire driven robot［J］.Robot，2008，30（5）：392-397.

张俊，池长城，蒋舒佳.2UPR-RPS型并联机构精度设计［J］.农业机械学报，2021，52（7）：411-420.

ZHANG Jun，CHI Changcheng，JIANG Shujia.Accuracy design of 2UPR-RPS parallel mechanism［J］.Transactions of the Chinese Society of Agricultural Machinery，2021，52（7）：411-420.

张俊，蒋舒佳，池长城，等.一种五自由度混联艾灸机器人：CN110812210A［P］.2020-02-21.

ZHANG Jun，JIANG Shujia，CHI Changcheng，et al.A 5-DOF hybrid moxibustion robot：CN110812210A［P］.2020-02-21.

全国产品几何技术规范标准化技术委员会.产品几何技术规范（GPS）线性尺寸公差ISO代号体系GB/T 1800—2020［S］.北京：中国标准出版社，2020.

Dimensional and Geomentrical Product Specifications. Geometrical product specifications （GPS）-ISO code system for tolerances on linear sizes GB/T 1800—2020［S］.Beijing：China Quality and Standards Publishing，2020.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Analysis of Pose and Workspace Characteristic of 5-DOF Parallel Robot

Motion Interference Inspection and Workspace Research of 3-RRR Spherical Parallel Robot

A Method for Space Safety Wall Analysis and Regression Trajectory Planning of Cable-driven Parallel Rehabilitation Robot

Optimum Research of Planar 5R Symmetric Parallel Robot based on the Performance Indicator about GTW and GTI

Trajectory Planning and Simulation of 6-SPU Parallel Robot

Related Author

Zhiyong Yang

Hongjun Zhou

Qiao Fang

Zihao Zhang

Jun Wang

Chen Miao

Li Wang

Rong Wang

Related Institution

Hubei Key Laboratory of Modern Manufacturing Quality Engineering， Hubei University of Technology

Maintenance Company， State Grid Hunan Electric Power Co.， Ltd.

School of Mechanical Engineering，Shaanxi Polytechnic Institute

College of Information Engineering，Engineering University of PAP

School of Mechanical and Electrical Engineering， Jiangsu Provincial Key Laboratory of Advanced Robotics，Soochow University

⁰

Accuracy Synthesis of a 2UPS & UPR & UP Parallel Robot

DOI：10.16578/j.issn.1004.2539.2023.01.002

摘要

Abstract

关键词

Keywords

references