Geometric error modeling method and device for parallel hybrid robot

Abstract

The invention discloses a geometric error modeling method and device of a parallel hybrid robot, wherein the method includes: deriving the original geometric error model of the parallel hybrid robot according to the perturbation theory and the D-H matrix method, and determining the parallel hybrid robot Passive error and structural error in the configuration; according to the closed-loop constraints of the robot joint chain, determine the endogenous constraints of the structural error of the hybrid configuration, and determine the process of solving the mathematical expression of the corresponding constraint relationship; according to the passive error, structural error, process and terminal Based on the transfer relationship of the pose error of the moving platform, the optimal structural error combination that is linearly independent and conforms to the error endogenous constraint relationship is extracted based on matrix decomposition and simulation methods. This method solves the geometric error modeling problem of the parallel hybrid robot, thereby establishing the geometric error model of the parallel hybrid robot more accurately and universally, and then can provide more effective and more accurate data for precision research fields such as the kinematics calibration of the parallel hybrid robot. The convenient prior geometric error model 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...

AI Technical Summary

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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