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为减小机构末端定位误差,提高精密并联机器人运动精度,以6-HTRT并联机构为结构模型,分析了机构的各种制造误差。首先在机构上开发了一种新型虎克铰链,同时采用了预紧装置;然后在控制系统中引入DSP高性能数据处理器;最后,用矢量构造的方法计算机构速度Jacobian矩阵,用数值法计算位置正解,用构造法计算误差Jacobian矩阵,对机构末端误差进行补偿。通过以上措施,可以使系统的精度提高到机构重复运动精度的3倍左右,满足精密并联机器人工作的精度要求。其中,软件误差补偿算法不受并联机构类型的限制,有较大的适用范围。
In order to reduce the positioning error of the end of the mechanism and improve the precision of precision parallel robot, 6-HTRT parallel mechanism is taken as the structural model to analyze various manufacturing errors of the mechanism. First of all, a new type of Hooke hinge was developed at the same time. At the same time, a pre-tightening device was adopted. Then, DSP high-performance data processor was introduced into the control system. Finally, the Jacobian matrix of mechanism velocity was calculated by vector construction method. The position solution is positive and the error Jacobian matrix is calculated by the construction method to compensate the error of the end of the mechanism. Through the above measures, the precision of the system can be raised to about three times of the repetitive motion of the mechanism to meet the precision requirements of precision parallel robots. Among them, the software error compensation algorithm is not limited by the type of parallel mechanism, has a larger scope of application.