Study On Movement Error Analysis And Compensation Method Of Parallel Robot

Accuracy is one of the most important indicators to measure the working performanceof the parallel robots, thus improving the accuracy of parallel robots has importanttheoretical significance and practical value. Since the structure of parallel robots is verycomplex, factors that affect the kinematics accuracy have many aspects, which make itmore difficult to improve the movement accuracy of parallel robots. The subject is aimingat solving the problem of movement error(the movement pose error、the elastic vibrationerror and trajectory tracking error) during the movement of parallel robots, based on themovement error analysis, the research is carried out from movement pose errorcompensation, trajectory tracking control, and elastic vibration error compensation. Thespecific research works are as follows:Firstly, targeting at the error between expected trajectory and ideal trajectory caused bymechanism structural errors in the movement of parallel robots, particle swarm algorithmis used to optimize the drive rod parameters on the bias of movement pose error modelingand analysis, thereby movement pose error are compensated and expected trajectory iscorrected. In addition, aiming at the trajectory tracking error caused by various nonlinearfactors during the movement of parallel robots, a trajectory tracking error compensationmethod based on adaptive iterative learning control algorithm is designed to improvemovement accuracy of parallel robots.Secondly, aiming at terminal elastic vibration errors caused by elastic deformation offlexible rod in the movement of parallel robots, elastic dynamic model is built, further, aSteward parallel robot with flexible rods virtual prototype is received using ADAMS.Moreover, a compensating method for elastic vibration errors is designed based on jointmotion planning by means of elastic vibration error compensation.Finally, on the basis of the above studies, considering the problem that movement poseerror、elastic vibration error and the trajectory tracking error exist simultaneously in themovement of parallel robots, a comprehensive movement error compensation methodbased on joint space is proposed. The effectiveness of the proposed comprehensive movement error compensation method is demonstrated by the experiment results based onSteward parallel robot virtual prototype model.