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四足机器人腿部并联机构末端位置误差分析与验证 预览

Analysis and verification of terminal position error of leg parallelmechanism of quadruped robot
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摘要 为合理确定应用于四足机器人腿部机构的2自由度平面并联机构零件制造公差范围,该文进行了并联机构末端位置误差灵敏度分析与工作空间内的位置精度预估,建立2自由度平面并联机构位置方程;采用全微分理论建立2自由度平面并联机构的误差模型,得到各误差源相对于末端位置误差的映射关系;建立机构位置误差灵敏度模型与评价指标,借助灵敏度评价指标揭示出统计意义下各几何误差源对末端位置精度的影响程度;依据3原则与灵敏度评价指标,确定了各误差源的零件制造公差;采用三坐标测量仪对试验样机制造误差值进行测量,依据误差模型对末端位置精度在工作空间内的分布进行预估及实例验证。结果表明:实际位置精度值与理论位置精度预估值最大误差绝对值为0.003 8 mm,最小误差绝对值为0.001 5 mm,各误差值均较小,验证了误差传递模型、位置精度预估的正确性及该方法确定构件制造公差的有效性。研究结果可为四足机器人腿部机构的运动学标定、误差补偿及执行精确任务时的轨迹规划提供理论依据。 In order to reasonably determine the manufacturing tolerance range of 2-DOF planar parallel mechanism parts on quadruped robot,the error sensitivity analysis of the leg parallel mechanism and the position precision estimation in the working space were proposed in this paper.The leg mechanism of the quadruped robot analyzed in the paper was composed of a 2-DOF planar parallel mechanism and a RPR mechanism in series.The planar parallel mechanism realized the forward direction of leg lifting and stepping,and the RPR mechanism realized the lateral pendulum movement of leg mechanism,and the coordinate movement of the 2 mechanisms realized the spatial movement of leg mechanism.The advantage of the leg structure was that the planar parallel mechanism could enlarge the stroke of the end position to achieve rapid leg lifting and stride,and the RPR mechanism could achieve lateral swing decoupling motion.In the manufacturing process of the leg mechanism,due to the relatively simple structure of RPR mechanism and the coupling and complexity of parallel mechanism,the manufacturing of 2-DOF planar parallel mechanism was emphatically analyzed.Firstly,the composition of the leg mechanism was introduced,the position equation of 2-DOF planar parallel mechanism was established,an error model of 2-DOF planar parallel mechanism was established by using the full differential theory,the mapping relation of each error source to the end position error was obtained.Secondly,the position error sensitivity model and evaluation index of the mechanism were established.The histogram of each geometric error source on the end position precision under the significance of generalization was drawn according the sensitivity evaluation index,and the influence degree of each error source on the end position precision was revealed.The result showed that the angle error sources had a great influence on the position precision of leg mechanism,the angle error between the rod BC and the X axis was the most sensitive,other angle errors were more sensitive,w
作者 王晓磊 金振林 李晓丹 Wang Xiaolei;Jin Zhenlin;Li Xiaodan(College of Mechanical Engineering,Yanshan University,Qinhuangdao 066004,China;College of Mechanical Engineer and Automation,Liaoning University of Technology,Jinzhou 121001,China;State Key Laboratory of Mechanical System and Vibration,Shanghai Jiao Tong University,Shanghai 200240,China)
出处 《农业工程学报》 EI CAS CSCD 北大核心 2019年第6期39-46,共8页 Transactions of the Chinese Society of Agricultural Engineering
基金 国家高技术研究发展计划(863计划)项目(2011AA040901) 机械系统与振动国家重点实验室课题资助项目(MSV201506) 辽宁省高等学校科学技术研究项目(JL201615402).
关键词 机器人 模型 机构 误差灵敏度 位置精度 robots models mechanism error sensitivity positional accuracy
作者简介 王晓磊,副教授,博士生,主要研究方向为并联机构的理论及应用。Email:wxlgxy@126.com;通信作者:金振林,教授、博士生导师,主要研究方向为并联机器人技术及应用。Email:zljin@ysu.edu.cn.
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