Geometric error modeling method and device of parallel hybrid robot

Abstract

The invention discloses a geometric error modeling method and device of a parallel hybrid robot. The method comprises the following steps that according to a perturbation theory and a D-H matrix method, an original geometric error model of the parallel hybrid robot is derived, and a passive error and a structural error in the parallel hybrid configuration is determined; according to the closed-loop constraint of robot joint chains, a structural error endogenous constraint of the parallel hybrid configuration is determined, and the flow of solving the mathematical expression of the corresponding constraint relation is determined; and according to the transitive relation of the passive error, the structural error, the processes and the terminal end moving platform pose error, the linear independent and the optimal structural error combination conforming to the error endogenous constraint relation is extracted based on a matrix decomposition and simulation method. According to the method,the geometric error modeling problem of the parallel hybrid robot is solved, and therefore the geometric error model of the parallel hybrid robot is built more accurately and universally, so that a priori geometric error model which is more effective and more convenient can be provided for the field of precision research such as kinematic calibration of the parallel hybrid robot, and the method is simple and easy to implement.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a geometric error modeling method and device of a parallel hybrid robot. Background technique [0002] Motion accuracy is the most important indicator for industrial parallel hybrid robots. Compared with traditional serial robots and machine tools, parallel hybrid robots have theoretically higher motion accuracy due to less error accumulation, so many configurations of parallel hybrid robots have been proposed one after another, but most parallel hybrid robots are in practice. The pose accuracy is too low to reach the accuracy of traditional tandem machine tools. Therefore, it is necessary to conduct more in-depth research on the accuracy of parallel hybrid robots, among which geometric error modeling of parallel hybrid robots is a core content. [0003] During the movement of the parallel hybrid robot, the geometric error of the robot caused by assembly, processing, etc. will a...

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Problems solved by technology

At present, there are two significant problems in modeling the geometric error of the parallel hybrid robot: 1) the model is not accurate enough, and cannot fully conform to the characteristics of the joint closed loop of the parallel hybrid robot, which has a potential negative impact on the subsequent accuracy improvement; 2) modeling The method is not general enough and requires a specific modeling process for the mechanism. The efficiency of geometric error modeling is low, and it is difficult to automatically construct an error model

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