Stewart型并联机器人的奇异对其运动精度的影响
Effect of Singularity on Motion Accuracy of Stewart Parallel Robot
陈垚 1尤晶晶 2叶鹏达 3王澍声 1黄宁宁1
作者信息
- 1. 南京林业大学机械电子工程学院,江苏南京 210037
- 2. 南京林业大学机械电子工程学院,江苏南京 210037;南京航空航天大学江苏省精密与微细制造技术重点实验室,江苏南京 210016
- 3. 常州大学机械与轨道交通学院,江苏常州 213164
- 折叠
摘要
以9-3 Stewart型并联机器人为研究对象,分析其在机构接近奇异位形时动平台运动精度的情况.通过计算并联机器人速度Jacobian矩阵的行列式得到奇异点的坐标.通过虚拟样机实验,得到动平台参考点位置反解和正解计算的相对误差.用转动Jacobian矩阵条件数的倒数来度量机构接近奇异的程度,并分析该程度与上述相对误差之间的映射关系.研究结果表明:当指标值大于7.027×10-5时,正、反解的相对误差可忽略不计,这为奇异规避、路径规划等后续工作提供了理论参考.
Abstract
Taking 9-3 Stewart parallel robot as the research object,analyzes the motion accuracy of moving platform when mechanism is close to singular configuration.The determinant of velocity Jacobian matrix of the parallel robot is calculated to abtain the coordinates of singular points.The virtual prototype experiment is conducted to gain the relative error of the inverse solution and positive solution of the reference point of the moving platform.The reciprocal of the condition number of the rotating Jacobian matrix is used to measure the degree of the mechanism approaching singularity,and the mapping relationship between this degree and the above relative error is analyzed.The results show that when the index value is greater than 7.027x10-5,the relative error of the positive and negative solutions can be ignored,which provides a theoretical reference for the follow-up work such as singularity avoidance and path planning.
关键词
并联机器人/正解/反解/运动精度/奇异位形/Jacobian矩阵Key words
parallel robot/positive solution/inverse solution/motion accuracy/singular configuration/Jacobian matrix引用本文复制引用
基金项目
国家自然科学基金项目(51405237)
国家留学基金项目(201908320035)
江苏省高等学校大学生创新创业训练计划项目(202210298016Z)
出版年
2024
国家科技期刊平台
NSTL
万方数据