Research On The Positioning Accuracy Of A Master-slave Manipulator

With the continuous development of master-slave remote control technology,master-slave manipulator applications continue to expand,the requirements of master-slave manipulator is getting higher and higher.Positioning accuracy has vital effects on the master-slave manipulators performance and reliability.In this paper,a kind of master-slave manipulator as the research object.The errors of two key components-telescopic boom and wrist which affect the master-slave manipulator end positioning accuracy are studied in depth.An additional motion error compensation method is presented to compensate the position error of the master-slave manipulator based on relevant error.The main contents are as follows:Firstly,the transmission structure of sleeve telescopic boom is analyzed in this paper.Based on the geometric analytic method and the dynamic method,the transmission error model of sleeve telescopic boom is modeled respectively.Through the numerical analysis,obtained the sleeve telescopic boom transmission initial error size and time-varying error size.Secondly,the transmission structure of the master-slave manipulator wrist is analyzed.Using Matlab/Simulink to establish a dynamic model of wire rope which simplified as rope hoisting dynamic system to numerical analysis.Then using ADAMS software to simulate dynamics model that to verify the feasibility of ADAMS dynamics of wire rope transmission simulation.So using ADAMS,and then went on to create a master-slave manipulator wrist rope drive model,gained with wrist pitch error and rotation error.Finally,analyzed the structure of master-slave manipulator,using the D-H method to study the kinematics equation of the slave manipulator.Then the relationship between joint variables and manipulator end-effector and posture is obtained.Aiming at the error of joint variable,a principle of error compensation is proposed,and the error compensation of the calculated examples of experimental calculations.The results show that the method of position error compensation is feasible and effective which provides the theoretical guidance for the research of the positioning precision of master-slave manipulator.