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Delta并联机器人装配误差分析与补偿
Alternative TitleDelta Parallel Robot Assembly Error Analysis and Calibration
潘华; 邱继红; 刘林
Department其他
Source Publication科学技术与工程
ISSN1671-1815
2017
Volume17Issue:20Pages:1-5
Contribution Rank1
Funding Organization沈阳市信息产品制造业发展专项资金(Z201401001)资助
Keyword并联机器人 装配误差 粒子群优化算法 误差补偿
Abstract针对工业应用中并联机器人运动规划与控制的精度需求,提出一种基于多样性反馈的自适应粒子群优化算法(APSO)来提高并联机器人精度。利用机器人机构闭环矢量关系得到运动学正逆解;并应用基于多样性反馈的自适应粒子群优化算法将结构参数优化问题转化为非线性系统优化问题。通过对机器人驱动电机转角进行优化,使得机器人在工作空间内具有理想的工作精度。以SRBD型号Delta型并联机器人进行试验验证,仿真结果可达到10(-3)毫米级别,验证了方法的有效性用。
Other AbstractFor the accuracy requirement of the motion planning and control in the industrial application of parallel robot, an particle swarm optimization algorithm based was proposed on adaptive diversity feedback (APSO) to improve the accuracy of parallel robots. Use the closed loop vector to calculate the robot's kinematics solution, and the application of APSO turn the structure parameters optimization problem into an optimization problem of nonlinear system, by calibrate the robot drive motor rotation, the machine get an ideal accuracy in the working space. Test on SRBD Delta parallel robot, and the simulation results can reach the level of 10 -3 mm, the validity of the method is verified.
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/20938
Collection其他
Corresponding Author潘华
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院大学
3.沈阳新松机器人自动化股份有限公司
Recommended Citation
GB/T 7714
潘华,邱继红,刘林. Delta并联机器人装配误差分析与补偿[J]. 科学技术与工程,2017,17(20):1-5.
APA 潘华,邱继红,&刘林.(2017).Delta并联机器人装配误差分析与补偿.科学技术与工程,17(20),1-5.
MLA 潘华,et al."Delta并联机器人装配误差分析与补偿".科学技术与工程 17.20(2017):1-5.
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