Abstract:

Taking the 6?PTRT parallel as the research object, the pose error model of 6?PTRT parallel robot is established, the closed?loop vector method of single branch chain is used to establish the error equation based on its input and output relationship. According to the pose error model of 6?PTRT parallel robot,the mechanism error is converted into the drive rod error,the influence of the error parameters of each drive rod length on the output pose error is analyzed by using MATLAB software;the objective function of pose error correction of 6?PTRT parallel robot is established, and the adaptive weighted particle swarm optimization algorithm based on shrinkage factor is used to optimize the error parameters of each drive rod, modify the terminal pose, and improve the kinematics accuracy, which provides a theoretical basis for the dynamics, pose calibration and trajectory planning and control of 6?PTRT parallel robot.

Key words: 6?PTRT parallel robot, Particle swarm optimization algorithm, The error model, The error analysis

摘要：

以6?PTRT并联机器人为研究对象，建立其位姿误差模型，利用单支链闭环矢量法，依据输入输出关系，建立误差方程。依据6?PTRT并联机器人的位姿误差模型，将机构误差转化为驱动杆误差，利用MATLAB软件分析各个驱动杆杆长误差参数对其输出位姿误差的影响；建立并联机器人位姿误差修正的目标函数，利用基于带收缩因子的自适应权重粒子群算法寻优各个驱动杆误差参数，修正末端位姿、提高运动学精度，为6?PTRT并联机器人动力学、位姿标定以及轨迹规划和控制等问题提供理论依据。

关键词: 6?PTRT并联机器人, 粒子群算法, 误差模型, 误差分析