| Parallel mechanism because of its bearing capacity is strong,and the advantages of small motion inertia,in human form bionic robot application is increasing,agency for mechanism design,performance analysis application aspects of significance is more important.Face parallel bionic mechanism motion in the process of energy transfer efficiency is low,the error precision performance problems,with 3 PSS/S sphere bionic parallel mechanism as the research object,based on the power transfer performance point of view,optimize the structure parameters,to improve the power transmission performance;This paper explores the mechanism error analysis method and establishes the comprehensive error prediction model to improve the accuracy of the motion compensation.The main contents of this paper are as follows:Firstly,power consumption than the performance evaluation index is put forward,3 PSS/S parallel mechanism power consumption than the mathematic model,carry out 3 PSS/S parallel mechanism power consumption than the experiment,experiment power consumption than curve drawing,curve comparison with theoretical analysis,to verify that the power consumption than the rationality of the performance indicators;In this paper,the power consumption ratio of two kinds of three degrees of freedom shoulder bionic mechanism in the same working space and the same working space are analyzed.Based on the performance index and the working space of 3PSS/S parallel mechanism,the mechanism parameter search was completed and the optimization of the mechanism parameters was completed.Secondly,for the present stage parallel mechanism system error modeling methods are classified and introduced,considering 3 PSS/S parallel mechanism the kinematics error,branched chain vector diagram analysis institutions,establish organization error analysis model,and the error model of differential transform,obtained error mapping matrix;Based on ADAMS,the parametric error analysis model was established and the influence of single error source on the attitude error of the dynamic platform was analyzed.Furthermore,a comprehensive error of parallel mechanism as the research object,is proposed based on fuzzy neural network control theory,establish comprehensive error forecast model of parallel mechanism,application of fuzzy rules for parallel mechanism condition input and the error value to set up the transfer function,and the parameter values of the neural network algorithm is used to complete the rule of the training,enhances the robustness and the accuracy of model prediction error.Finally,the simulation conditions are based on the comprehensive error prediction model of parallel mechanism forecasting error values,on the basis of the error analysis,combined with the drive displacement compensation mode,It use that particle swarm algorithm to optimize the driving displacement parameter,to compensate the attitude error of the mechanism and to improve the motion accuracy of the mechanism. |
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