关键词: 并联机器人, 运动学精度, 粒子群优化, 期望轨迹修正

Abstract:

Aiming at a kinematics accuracy problem of the parallel robot,caused by the deviation between the desired trajectory and the ideal trajectory generated by the mechanism errors based on the task trajectory planning process,a new method to improve the kinematics accuracy of the parallel robot was proposed herein:First,the continuous task was discretized to some ideal pose points based on the accuracy requirements,and the mechanism errors were transformed into drive rod errors based on the pose error model of  the parallel robot.Then an improved particle swarm algorithm was developed based on the population permutation entropy and the particle velocity activation mechanism,which can complete combinatorial optimization of the drive rod parameters for compensating the pose errors of the parallel robot,
so as to correct the desired trajectory and improve the kinematics accuracy.The feasibility and validity of the proposed algorithm were shown by the MATLAB and ADAMS simulation.

Key words: parallel robot, kinematics accuracy, particle swarm optimization(PSO), desired trajectory correction