Reaserch On Error Modeling、Compensation And Trajectory Planning Of A New Type Of A 6-DOF Series-Parallel Spraying Robot

At this stage,the most important type of industrial spraying robot is the serial-robot,it has large working space and other advantages, but due to the motor installed in the joints, it will produce larger moment of inertia in motion so that its dynamic performance is lowered, and its joints of the accumulative error is bigger, also affected the accuracy of its work. Relatively, the stiffness of the overall architecture of the parallel mechanism is bigger,the structure is compact, but it has less working space.This article will bring the control-agency-theory into the serial-robot,desinged and produced a new type of series-parallel-combination of six degrees of freedom spraying robot:Introduces two parallelogram mechanism into serial robot,increase its overall structure stiffness,and that makes a originally in the joints of the motor is moved to the base,to a certain extent a reduced because of the movement of the moment of inertia,improve its dynamic performance,and the working space of the parallelogram mechanism is larger than the other agencies,it more flexible and easyer to control and so on.In this thesis,kinematics,error modeling and simulation,error compensation and trajectory planning has been studied and analyzed. The kinematics analysis is the basis of analyzing various performance robot, this thesis adopted the DH method to solve the forward kinematics problem of robot, and introduces the double variable arctangent function makes the inverse kinematics solutions to improve more, and then through the differential movement method for solving the problems of speed of the robot; In error modeling and simulation research, this article used the matrix method based on the five parameters for the research object of this article has carried on the error model, and the simulation analysis was made on the main factors influencing the error;In the study of error compensation, this thesis has applied the perturbation compensation method and simplified iterative compensation method to compensate the error of the robot, and compared the two kinds of compensation method;At last,according to the mission requirements,this thesis studied the robot trajectory planning, mainly studied straight and curved trajectory planning in Cartesian space,and introduced parabola transition function so that the robot will not occur in along the trajectory motion mutation.