Compliance Modeling and Error Compensation of a 3-Parallelogram Lightweight Robotic Arm

机译：3平行四平行四平行四平方体轻量级机器人的合规建模与误差补偿

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摘要

This paper presents compliance modeling and error compensation for lightweight robotic arms built with parallelogram linkages, i.e., Π joints. The Cartesian stiffness matrix is derived using the virtual joint method. Based on the developed stiffness model, a method to compensate the compliance error is introduced, being illustrated with a 3-parallelogram robot in the application of pick-and-place operation. The results show that this compensation method can effectively improve the operation accuracy.

机译：本文介绍了通过平行四边形连杆，即π关节构建的轻质机器人臂的合规性建模和误差补偿。笛卡尔僵硬矩阵使用虚拟联合方法导出。基于开发的刚度模型，介绍了一种补偿合规误差的方法，在应用拾取和放置操作时用3平行四平行四平行四平行单元机器人说明。结果表明，该补偿方法可以有效地提高操作精度。

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来源
《IFToMM Symposium on Mechanism Design for Robotics》|2015年||共12页
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Guanglei Wu; Sheng Guo; Shaoping Bai;
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原文格式 PDF
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中图分类 TP24-53;
关键词
Parallelogram robot; Lightweight robotic arm; Error compensation; Stiffness;

机译：平行四边形机器人;轻量级机器人臂;误差补偿;刚度;

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2. Evolutionary Robot Calibration and Nonlinear Compensation Methodology Based on GA-DNN and an Extra Compliance Error Model [J] . Xiaoyan Chen, Qiuju Zhang, Yilin Sun Mathematical Problems in Engineering: Theory, Methods and Applications . 2020,第1期

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3. Compliance error compensation technique for parallel robots composed of non-perfect serial chains [J] . Alexandr Klimchik, Anatol Pashkevich, Damien Chablat, Robotics and Computer-Integrated Manufacturing . 2013,第2期

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4. Compliance Modeling and Error Compensation of a 3-Parallelogram Lightweight Robotic Arm [C] . Guanglei Wu, Sheng Guo, Shaoping Bai IFToMM Symposium on Mechanism Design for Robotics . 2015

机译：3平行四平行四平行四平方体轻量级机器人的合规建模与误差补偿
5. ROBOT KINEMATIC ERROR ANALYSIS, MODELING, CALIBRATION, AND COMPENSATION [D] . VEITSCHEGGER, WILLIAM KERR 1987

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6. Robotic modelling of snake traversing large smooth obstacles reveals stability benefits of body compliance [O] . Qiyuan Fu, Chen Li 2020

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7. Compliance error compensation in robotic-based milling [O] . Klimchik, Alexandr, Bondarenko, Dmitry, Pashkevich, Anatol, 2014

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Compliance Modeling and Error Compensation of a 3-Parallelogram Lightweight Robotic Arm

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