| 基于D-H矩阵的2-RPaRSS并联机构位姿误差建模与补偿 |
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| 引用本文： | 邓嘉鸣,李高德,孟庆梅,沈惠平,李文华.基于D-H矩阵的2-RPaRSS并联机构位姿误差建模与补偿[J].机械设计与研究,2020,36(1):91-95,101. |
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| 作者姓名： | 邓嘉鸣 李高德 孟庆梅 沈惠平 李文华 |
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| 作者单位： | 常州大学 机械工程学院,江苏常州 213064;常州大学 机械工程学院,江苏常州 213064;常州大学 机械工程学院,江苏常州 213064;常州大学 机械工程学院,江苏常州 213064;常州大学 机械工程学院,江苏常州 213064 |
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| 基金项目： | 国家自然科学基金;江苏省重点研发计划 |
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| 摘 要： | 针对4自由度2-RPaRSS并联机构,利用D-H变换矩阵法建立了机构运动学及单条支链的位姿误差模型,并由此得到了机构基于各运动副误差(制造误差、安装误差、磨损误差等)的动平台位姿误差模型;运用该误差模型对2-RPaRSS并联机构的进行了误差分析和计算,给出了机构驱动角对动平台位姿误差的影响情况;同时建立了单支链的误差辨识模型,并由NSGA2算法求得了各误差的近似最优解,通过误差补偿使并联机构的位姿精度得到明显提高。
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| 关 键 词： | 并联机构 D-H变换矩阵 位姿误差建模 NSGA2 误差补偿 |
Modeling and Compensation of Pose Error of 2-RPaRSS Parallel Mechanism Based on D-H Matrix |
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| DENG Jiaming,LI Gaode,MENG Qingmei,SHEN Huiping,LI Wenhua.Modeling and Compensation of Pose Error of 2-RPaRSS Parallel Mechanism Based on D-H Matrix[J].Machine Design and Research,2020,36(1):91-95,101. |
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| Authors: | DENG Jiaming LI Gaode MENG Qingmei SHEN Huiping LI Wenhua |
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| Affiliation: | (School of Mechanical Engineering,Changzhou University,Changzhou Jiangsu 213064,China) |
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| Abstract: | For the 4-DOF 2-RPaRSS parallel mechanism, the kinematics and the pose error model of each single branch are established by the D-H transformation matrix method, and the mechanism is based on the motion error(manufacturing error, installation error, wear error). Orbital attitude error model of the moving platform;The error model is used to analyze and calculate the error of the 2-RPaRSS parallel mechanism, and the influence of the mechanism driving angle on the attitude error of the moving platform is given. At the same time, the error identification equation of single-chain is established, and the approximate optimal solution of each error is obtained by NSGA2 algorithm. The accuracy of the parallel mechanism is improved by error compensation. |
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| Keywords: | Parallel mechanism D-H transformation matrix modelling of position and pose error NSGA2 error compensation |
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