片簧型柔顺并联机器人运动规划与轨迹跟踪技术

针对柔顺关节并联机器人系统存在的误差因素,为提高系统整体性能,开展运动规划及轨迹跟踪研究。根据性能要求,设计柔顺关节的结构参数,分析柔顺关节特性,建立机器人系统的分析模型并推导运动学方程。针对柔顺关节轴心漂移引起的杆长误差,提出一种机器人主动杆和从动杆实际杆长的计算方法,修正主动杆关节角的期望轨迹。为补偿系统振动及参数摄动误差,基于径向基(RBF)神经网络设计模型逼近控制算法,跟踪期望轨迹。基于Solid Works、ANSYS、ADAMS及Matlab/Simulink建立机器人系统的虚拟仿真模型。仿真结果表明,提出的运动规划和控制方法将未补偿柔顺关节误差时的机器人末端轨迹误差降低了84%以上,能够有效提高柔顺关节并联机器人系统的运行精度。

Motion Planning and Trajectory Tracking of Parallel Robot with Leaf Compliant Joint

Aiming at the errors of compliant parallel robot, a study on the motion planning and trajectory tracking of robot system was presented to improve the overall performance. According to the performance requirements, the structural parameters of compliant joint were designed. The characteristics of compliant joint were analyzed. The analysis model and the kinematic equation were obtained. Aiming at the length errors of links made by axis drift, a numerial method for determining the actual length of drive and driven links was proposed. Based on the radial basis function (RBF) neural network, a model approximation control method was designed to compensate the vibration and the parameter perturbation errors of parallel robot system for tracking the desired trajectory. The virtual simulation model of compliant joint parallel robot system was estalished by SolidWorks, ANSYS, ADAMS and Matlab/Simulink. The simulation results show that the errors of end-effector trajectory without compensation of compliant joint errors can be reduced by 84% based on the proposed motion planning and control method, which is effective to improve the operating accuracy of compliant joint parallel robot system.