柔索驱动并联机器人的误差分析及其标定仿真

建立了大射电望远镜(Large Radio Telescope-LT)中柔索驱动并联机器人(Wire Driven Parallel Ro-bot-WDPR)系统的末端误差模型,用正向运动学标定方式对LT5m缩比模型的运动学参数做了辨识。首先,建立LT舱索系统的运动学正、逆解模型;接着,在运动学分析的基础上建立了其误差模型,得到影响末端位姿误差的各项参数;最后,对LT5m柔索并联机构的标定过程作了模拟,验证算法的有效性。结果显示该算法收敛性好,忽略测量误差的情况下能够保证运动学参数具有很高的标定精度,从而为提高LT5m模型的控制精度奠定了理论基础。

Error Analysis and Calibration Simulation of a Wire Driven Parallel Robot

The error model of the moving platform of a Wire Driven Parallel Robot(WDPR) for a Large Radio Telescope(LT) was established,and the kinematics parameters of the LT5m scaled model were identified by minimizing direct kinematics residuals.The direct and inverse kinematics models of the cable-cabin system for LT were first modeled.Secondly,the error model was set up based on the above kinematics analysis to obtain the parameters influencing on the position and orientation of the moving platform.Finally,the calibration of the WDPR for LT5m was simulated to verify the iterative algorithm.The results show the convergence of the algorithm is quick and the calibrated precision of the kinematics parameters can be high with no measure error so that it lays the theoretic foundation for the control accuracy of the LT5m system.