Pose Error Analysis And Synthesis Of4-RSSR Parallel Robot

The accuracy of the parallel robot is one of the important indices of the performance. Especially the high accuracy of the robot is required in food sorting; operative procedure and precision manufacturing. In order to improve the accuracy of the parallel robot, the error model of the parallel robot should be established and the error of the parallel robot should be calculated and timely compensated. Aiming at the development of the food packaging industry in China and the actual demand of which, the project team develop the parallel robot that is used in automatic sorting of disorderly deferent food.4-RSSR parallel robot is based on the project development, through the analysis of the parallel robot pose relations the relationship between the pose parameters and the structure OOOparameters of the parallel robot is derived, the kinematics model of the parallel robot is established. Based on the kinematic model,using closed loop vector modeling method, a single chain drive arm with the manufacturing errors and the installation errors of each hinge point of the whole error model is established, which effectively solve the problem that is error modeling of the structure of the parallelogram on the driven arm of the parallel robot.Comprehensive considering the characteristics of Singular Value of the parallel robot, The Jacobian matrix of4-RSSR parallel robot is calculated. The errors of the parallel robot are minutely analyzed, and output pose errors of the parallel robot are solved. The application of the simulation of MATLAB software is based on the error model of the parallel robot to explore the relationship of the pose parameters, the structure parameters and the output pose errors of the parallel robot.In order to improve the accuracy of the output pose errors compensation of the parallel robot and based on the theory of the Continuous Ant Colony Algorithm the error compensation of4-RSSR parallel robot is studied with the network partitioning strategy. Through the optimization of Ant Colony Algorithm, the output pose errors of the parallel robot are reduced and the accuracy of the parallel robot is improved.