Error compensation of a 2TPR&2TPS parallel mechanism based on particle swarm optimization

Abstract

This paper solves the problem of the precise compensation of the pose error of a 2TPR&2TPS parallel mechanism. First, the inverse solution of the mechanism is solved, the error source of the mechanism is analyzed, and a closed-loop vector method error model based on the inverse solution is established. Then, the ball screw commutation gap is measured with a high-precision grating ruler, and a laser tracker is used to measure the comprehensive position error of the mechanism under the set trajectory (circle). Finally, an error compensation algorithm based on the particle swarm algorithm is constructed, the measured trajectory data are substituted into the compensation algorithm, the position accuracy of the mechanism is significantly improved, and the compensation effect is remarkable. The compensation algorithm has good versatility, is simple and feasible, and can be applied to the error compensation of various mechanisms.