一种三自由度并联机器人运动轨迹精度的可靠性研究

机器人轨迹精度的可靠性是评价机构性能的重要参数。压电材料作为一种驱动器能够抑制机器人柔性连接杆的振动,在抑制振动的同时也提高了机器人运动轨迹的精度。首先介绍了一种三自由度平面并联机器人系统;其次表达了振动控制系统的工作原理和实验分析;然后分别表达了不考虑振动和考虑振动因素时机器人轨迹精度的可靠度计算方法;最后分析了无振动控制和有振动控制时机器人运动轨迹精度的可靠度。可靠度计算表明,振动控制系统能够提高机器人运动轨迹精度的可靠度。

Research on Reliability of Kinematic Trajectory Accuracy of a Three-degree-of-freedom Parallel Manipulator

The reliability of the trajectory accuracy of the manipulator is an important parameter to evaluate the performance of the manipulator.The vibration of the flexible linkages of the manipulator can be suppressed when the piezoelectric material is used as a transducer.And the kinematic trajectory accuracy of the manipulator is improved at the same time.A three-degree-of-freedom planar parallel manipulator is introduced first.Then the working principle and experimental analysis of the vibration suppression system are presented.The calculating methods of the reliability of the trajectory accuracy of the manipulator with or without vibration factor considered are also provided.Finally,the reliability of kinematic trajectory accuracy of the manipulator with or without vibration suppression is analyzed.The results show that the reliability of the kinematic trajectory accuracy of the manipulator can be improved with the help of vibration suppression.