Error Analysis Model of Parallel Robot Based on Parameters Identification
Error modeling and analysis are important prerequisites for ensuring the operational accuracy of robots,and many modeling methods were proposed by scholars in the past.However,few literatures directly verified the correctness of the established error model through either theoretical derivation or experimental means.To this end,an error model verification method of parallel robots based on parameter identification was proposed,which aimed to directly verify the rationality of the established error model through experiments.Firstly,the parameter identification model was established to acquire the actual structural parameters of the parallel robot,to establish the actual kinematics model.On this basis,the error model of the actual parallel robot was established by using the partial differential theory,the error parameters in the actual error model were quantitatively analyzed,and the influence of each error parameter on the pose error of the end-effector was obtained.Then,the influence of each error parameter on the pose of the end-effector was mapped to the joint input to drive the parallel robot to execute the error model verification experiment.Finally,the 3-PUU parallel robot was taken as the object for error analysis and experimental verification.The position data collected by the laser tracker were compared with the results of error model analysis.The maximum deviation between the two was 0.50 mm,with the average deviation maintained within 0.31 mm,which intuitively indicated the rationality and correctness of the established error model.
parallel robotparameter identificationerror analysiserror model
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