Workspace Optimization And Kinematic Calibration Of A New 3-PUU Parallel Robot

In order to meet the demand for the development of automated production lines for food,medical care and daily consumer goods,a new 3-PUU parallel robot was developed.In order for the 3-PUU robot to better meet the requirements of practical applications,it is necessary to further study the kinematics modeling and work space optimization,especially the kinematic calibration.In order to meet the needs of practical application,3PUU robot has better kinemati cs performance and high precision.The research content mainly includes kinematics,singularity,working space and kinematic calibration of parallel robot.The specific cont ents include:Firstly,the kinematics model of 3PUU robot is established,the geometric model is simplified,its degrees of freedom are solved.The model of kinematics positive and inve rse solutions are obtained by the space vector chain method,and the correctness of the model is verified by the simulation of MATLAB and ADMAS.Secondly,the singularity and workspace are analyzed,and the Jacobian matrix of the robot is obtained,and the method of avoiding singular configuration is proposed.Two improved numerical methods are proposed to solve the working space of the parall el robot.At the same time,an algorithm for solving the internal space of the maximum v olume rule is proposed,and the influence of the main geometric parameters on the volu me,radius and height of the regular workspace is analyzed.The kinematics calibration of the robot is studied,the geometric error source of the3 PUUparallel robot is analyzed,and the error geometric model is established.The error sensitivity model is established on the basis of the error model,and the influence degree of the error sources on the position error of the 3PUU robot is analyzed.The accuracy o f the error sensitivity model is verified by Monte Carlo simulation in different planes.T he number of parameter identification is reduced,the difficulty of identification is reduc ed and the efficiency of identification is improved.The influence of geometric errors on the position error of end effector x,y and z is analyzed.Using particle swarm optimizati on algorithm,two error compensation methods are proposed for geometric error parame ter identification.Finally,the correctness and validity of the kinematic calibration method were verified by simulation and experiments.The position accuracy was improved from 1.40 mm to 0.21 mm.The theoretical curve of the workspace and the experimental data are highly fitted,which verifies the correctness of the algorithm for solving the workspace.The research in this paper has a good reference for 3-PUU robot design and guarantee high-precision robot motion.