[1]侯雨雷,张国兴,张继永,等.3PSS/S并联机构运动误差预估与补偿[J].燕山大学学报,2020,44(1):011-17.[doi:10.3969/j.issn.1007-791X.2020.01.002]
 HOU Yulei,ZHANG Guoxing,ZHANG Jiyong,et al.Prediction and compensation of motion error of 3PSS/S type parallel mechanism[J].Journal of YanShan University,2020,44(1):011-17.[doi:10.3969/j.issn.1007-791X.2020.01.002]
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3PSS/S并联机构运动误差预估与补偿
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《燕山大学学报》[ISSN:1007-791X/CN:13-1219/N]

卷:
44
期数:
2020年第1期
页码:
011-17
栏目:
机械工程
出版日期:
2020-01-31

文章信息/Info

Title:
Prediction and compensation of motion error of 3PSS/S type parallel mechanism
文章编号:
1007-791X(2020)01-0011-07
作者:
侯雨雷张国兴张继永魏晓晨曾达幸 *
燕山大学 机械工程学院,河北 秦皇岛 066004
Author(s):
HOU Yulei ZHANG Guoxing ZHANG Jiyong WEI Xiaochen ZENG Daxing
(School of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, China)
关键词:
并联机构运动精度误差预估模糊神经网络粒子群算法
Keywords:
parallel mechanism motion accuracyerror prediction fuzzy neural network particle swarm optimization
分类号:
TH112
DOI:
10.3969/j.issn.1007-791X.2020.01.002
文献标志码:
A
摘要:
预估机构误差并予以补偿是保障其运动精度的有效措施。以3PSS/S并联机构为研究对象,基于模糊神经网络建立并联机构综合误差预估模型,将并联机构误差值作为数据训练目标,实现误差值的预估。依据误差分析结果,采用粒子群算法优化驱动位移参数,补偿机构动平台姿态误差。结果表明,运用模糊神经网络算法预估3PSS/S并联机构运动误差并采用粒子群算法对误差进行补偿,可以提升3PSS/S并联机构的运动精度,补偿3PSS/S并联机构动平台的运动误差。

Abstract:
It is an effective measure to predict the mechanism error and compensate for its motion accuracy. A comprehensive error prediction model of a 3PSS/S type parallel mechanism is established based on fuzzy neural network. The error value of parallel mechanism is taken as the data training objective to realize the error value prediction. The particle swarm optimization is used to optimize the driving displacement parameters and compensate the attitude error of the moving platform of the mechanism according to the results of error analysis. The results show that the motion accuracy of the parallel mechanism can be improved and the motion errors of the platform can be compensated by using the fuzzy neural network algorithm to predict the motion errors of the parallel mechanism and the particle swarm optimization algorithm to compensate the errors.

相似文献/References:

[1]宋敬稳,安子军,胡瑞雪.精密钢球环槽等速传动机构运动精度及可靠性分析[J].燕山大学学报,2009,(2):095.
 SONG Jing-wen,AN Zi-jun,HU Rui-xue.Analysis of kinematic precision and reliability for steel ball ring groove equal-speed transmission mechanism[J].Journal of YanShan University,2009,(1):095.

备注/Memo

备注/Memo:
收稿日期:2018-10-26             责任编辑:温茂森
基金项目:国家自然科学基金资助项目(51775473);河北省自然科学基金资助项目(E2019203109,E2018203140);河北省高等学校科学技术研究重点项目(ZD2019020)
作者简介:侯雨雷(1980-),男,河北定州人,博士,教授,博士生导师,主要研究方向为并联机构及其动力学、机器人技术;*通信作者:曾达幸(1978-),男,湖南娄底人,博士,教授,博士生导师,主要研究方向为机构学基础理论及应用研究,Email:roboms@ysu.edu.cn。

更新日期/Last Update: 2020-03-20