Research On The Master Hand Robot Work Space Optimizition And Calibration Technology

According to the National Science and Technology Program topics-Fine teleoperation master-slave robot with interactive control system project.Taking teleoperation master manipulator parallel mechanism Delta robot as the research object,The thesis analyzed the key technical problems of the ontology in the workspace and motion accuracy.The motion model of the mechanism was simulated by MATLAB.In the precision calibration,the model of the calibration was constructed,and the simulation and experiments were carried out by the system error identification theory.Space analysis of robot.Firstly,according to the mechanism model of the robot manipulator,the space closed loop vector chain was constructed,and the kinematics and inverse kinematics were derived.The geometry parameters of the parallel mechanism were used as the optimization object,and the working space parameters optimization model was constructed.Secondly,parallel mechanism still need to meet the minimum standards for the end of the output force in the process of optimizing the boundary value,combined with the optimization of model parameters before construction of the working space,to meet the range of joint angle and in order to avoid the singular point in the optimization process,the Jacobian condition number was taken the evaluation index.In these circumstances,Constructed to the end of the output power of constraint,moving space as objective function and Jacobian condition number was taken evaluation index of Teleoperation multi-objective optimization equation of structural parameters.Finally,the target function was solved by genetic algorithm toolbox in MATLAB.The structure size parameters of the parallel mechanism were compared.The results were compared with the results of the working space and the end feedback.Robot calibration accuracy in motion areas.Firstly,the structural parameters of the model were constructed,and the error model of the parallel robot was constructed by using the space vector method;Using the error separation technique,the geometric error source of the controllable and uncontrollable effects of the robot's end elements was analyzed;The geometric error sources which influence the position were 24,and the geometric error source which influence the attitude was 12.Secondly,Based on the above parameters error model,the model was improved,and the error of each joint of the closed-loop chain was included.According to the conditions of the processing and assembly of the reality,the control section error sources,the parameter model was constructed by means of differential method to identify the source of 18 geometric errors.And the model was solved in detail.Finally,the coordinates of the parallel mechanism were measured by the laser detector,and the error parameters were identified by using the least square method,and then the error parameters were compensated to the original theoretical kinematics model,and the position of the parallel manipulator was solved in the new kinematic model.The accuracy of the results was evaluated by the accuracy of the results.