Truss Robot's Kinematics Modeling,Positioning Error Analysis And Experimental Study

With the development of industrial technology, intelligent manufacturing has become the future development trend of manufacturing industries, truss robot has been used more widely as an important part of flexible automatic production line of intelligent manufacturing. However, during to its low absolute positioning accuracy, it cannot meet the requirements in some high precision occasions, so the absolute positioning accuracy needs to be improved.Based on truss robot as the research object, this paper aims to research the main factors that influence the end positioning accuracy of truss robot. Study of this paper are shown as follows:1. Building the virtual prototype model of truss robot through the virtual prototype simulation software ADAMS, kinematics analysis was carried on to analysis the main factors that influence the truss robot absolute positioning accuracy.2.The experiment plan is set out to study the relationship between load and the absolute positioning accuracy of truss robot end actuator. Building the experimental platform. The micro displacement sensor is used to measure the position error when the truss robot's claw hand reaches the designated position with different loads. Analyze measurement data by linear regression analysis method, and use MATLAB software to fit the data which can conclude the relationship between load and the absolute positioning accuracy of truss robot.3.Experimental study on the influence of transmission system and the truss robot end location accuracy, the grating displacement sensor is used to detect the difference between the actual running distance and theory, using the method of nonlinear regression analysis to establish the forecast model, using MATLAB software to fit the measured data which can conclude the relationship between transmission system and the positioning accuracy of truss robot.4. Comprehensive the load and driving system on the truss robot's localization accuracy, truss robot error model is established for end error compensation, verify the exactness of the error model and compensation effect is good or bad by further test, so that can prepare for the follow-up study of positioning error of the truss robot.