Error Modeling Analysis of Parallel Robot Based on Improved Fish Swarm Algorithm

2023 2nd International Conference for Innovation in Technology (INOCON) Pub Date : 2023-03-03 DOI:10.1109/INOCON57975.2023.10101208

Long Chen

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Abstract

The parallel robot has the characteristics of good stiffness, stable structure, strong bearing capacity, high motion accuracy, and easy inverse solution of the parallel mechanism, which is conducive to online real-time calculation of the robot. Therefore, the parallel robot makes up for the shortcomings of the serial robot and expands the application range of the robot. In order to improve the accuracy of 6-PRRS parallel robot, based on the kinematics analysis of 6-PRRS parallel robot, this paper studies the error analysis and calibration method of the parallel robot. Fish swarm algorithm is a simple and effective method for parallel robot control. Through the joint simulation and verification analysis of Adams and Matlab, the influence of the errors of the parallel mechanism and the series mechanism on the end position is verified, so as to reveal the coupling error characteristics of the 5-DOF series-parallel mechanism. Through the experimental research on the end position accuracy of the prototype and the comparison with the simulation data of the 5-DOF series-parallel mechanism, the feasibility of the theoretical research scheme is obtained, so as to transform the theoretical research results into practical engineering applications.

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基于改进鱼群算法的并联机器人误差建模分析

并联机器人具有刚度好、结构稳定、承载能力强、运动精度高、并联机构易反解等特点，有利于机器人的在线实时计算。因此，并联机器人弥补了串行机器人的不足，扩大了机器人的应用范围。为了提高6-PRRS并联机器人的精度，在对6-PRRS并联机器人运动学分析的基础上，研究了6-PRRS并联机器人的误差分析和标定方法。鱼群算法是一种简单有效的并联机器人控制方法。通过Adams和Matlab的联合仿真与验证分析，验证并联机构和串联机构的误差对末端位置的影响，从而揭示五自由度串并联机构的耦合误差特性。通过对样机末端位置精度的实验研究，并与五自由度串并联机构的仿真数据进行对比，得出理论研究方案的可行性，从而将理论研究成果转化为实际工程应用。

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来源期刊

2023 2nd International Conference for Innovation in Technology (INOCON)

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