【摘要】 充分考虑关节(球铰、回转副)间隙误差随机性的影响,在运动学逆解的基础上,建立了并联机器人实际误差模型;在误差分析的基础上,以连杆、关节精度为设计变量,以公差制造成本为目标函数,以位置体积误差满足设计精度为约束条件,建立了并联机器人精度综合的优化数学模型,采用混沌遗传算法进行了精度综合.结果表明该方法过程清晰、编程简单、且精度高.更多还原

【Abstract】 Taking into account the influence of randomness of clearance error caused by the joints including spherical and rotational hinges, this paper proposes an actual error model of parallel robot. Based on error analysis, a mathematical model of optimization for accuracy synthesis for parallel robots is established by taking accuracy of connecting rods and joints as design variables and manufacturing cost of tolerances as a target function, and making position and volume errors within the design criterion. The accuracy synthesis is carried out using chaos-genetic algorithms. This method has many advantages such as legibility, ease of programming and high precision as demonstrated by the simulation results.更多还原