Research On Pose Error Modeling And Compensation Of Parallel Robot Based On PSO

With the continuous development of science and technology, parallel robot pose accuracy is an important index that its performance is good or bad, parallel robots are widely applied to various fields, improving the accuracy of parallel robots pose to suit all occasions precision is one of the key issues in the field of robotics research in parallel.In this paper, Stewart parallel robot is the study object. The model of parallel robot pose error is established, and parallel robot pose error simulation is analyzed through parallel robot pose error model, and then pose error compensation of parallel robot from the results of the analysis are carried out.Firstly, the theoretical basics of parallel robot are introduced, and then the parallel robot kinematics solving methods are described, respectively, analysis the two solutions forward kinematics and comparing of their shortcomings. The reasons that solving this article select reverse. Not only does this paper analysis the parallel robot singularity, but also it analysis the parallel robot workspace, which founded the foundation a reasonable choice of parameters for the design of parallel institutions.Secondly, the model of the pose error of Stewart parallel robot is established based on closed-loop vector method. At the same time, on the basis of parallel robot pose error model, the factors affecting the parallel robot is analyzed by the initial position and orientation parameters and institutional parameters of the simulation analysis, the regular of initial position and orientation parameters and institutional parameters affect the position error and attitude error of parallel robots is summed up. By analyzing on the singularity of parallel robots provides the basis for choice of structural parameters.Finally, this paper selects the two key factors that each hinge point error and the drive rod length error parameters based on Stewart Parallel Manipulators error model. Hinge point error will be transformed rod length error parameters. The PSO applying for pose error compensation of Stewart parallel robot’s drive rod length error parameter optimization, so that is so integrated parallel robot pose error to a minimum, and which ultimately achieves the pose error compensation of parallel robot, improving the purpose precision of posture parallel robot.