Abstract
Delta parallel robots are widely used in assembly detection, packaging sorting, precision positioning, and other fields. With the widespread use of robots, people have increasing requirements for motion accuracy and reliability. This paper considers the influence of various mechanism errors on the motion accuracy and analyzes the motion reliability of the mechanism. Firstly, we establish a kinematic model of the robot and obtain the relationship between the position of the end effector and the structural parameters based on the improved D–H transform rule. Secondly, an error model considering the dimension error, the error of revolute joint clearance, driving error, and the error of spherical joint clearance is established. Finally, taking an actual robot as an example, the comprehensive influence of mechanism errors on motion accuracy and reliability in different directions is quantitatively analyzed. It is shown that the driving error is a key factor determining the motion accuracy and reliability. The influence of mechanism errors on motion reliability is different in different directions. The influence of mechanism errors on reliability is small in the vertical direction, while it is great in the horizontal direction. Therefore, we should strictly control the mechanism errors, especially the driving angle, to ensure the motion accuracy and reliability. This research has significance for error compensation, motion reliability analysis, and reliability prediction in robots, and the conclusions can be extended to similar mechanisms.
Highlights
IntroductionParallel robots have the advantages of large carrying capacity, good motion performance, fast moving speed, etc. [1,2,3,4]
Compared with series robots, parallel robots have the advantages of large carrying capacity, good motion performance, fast moving speed, etc. [1,2,3,4]
This paper considers the influence of various mechanism errors on the motion accuracy and analyzes the motion reliability of the mechanism
Summary
Parallel robots have the advantages of large carrying capacity, good motion performance, fast moving speed, etc. [1,2,3,4]. The paper addressed the kinematic accuracy problem of the proposed new parallel robot with three legs due to the location of the U joint errors, clearance, and driving errors. Aiming at the error analysis and motion reliability analysis of the Delta parallel robot, currently, most studies mainly consider the influence of dimension error of the components. Because parallel mechanisms are used in high-speed situations, the error of spherical joint clearance will reduce the kinematic accuracy and aggravate wear and affect the motion stability of mechanisms. The influence on the motion error and reliability of the mechanism in different directions is not considered under the comprehensive effect of various errors. Based on the above analysis, the comprehensive influence of mechanism errors on motion accuracy and reliability in different directions is analyzed. A reliability analysis provides an important theoretical basis for improving the kinematic performance of the mechanism and is of great significance to robot mechanism optimization [14]
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