Research on the Motion Error Analysis and Compensation Strategy of the Delta Robot

摘要

The Delta robots are widely used in packaging, sorting, precision positioning, and other fields. Motion accuracy is an important indicator for evaluating robot performance. However, due to the existence of mechanism errors, the motion accuracy of the robot will be reduced. Therefore, how to reduce motion errors and improve accuracy are important issues for robots. The purpose of the present study is to analyze the motion error and propose an error compensation scheme to improve the motion accuracy of the robot. Firstly, the kinematic model of the robot is established by the D-H matrix transformation method. An error model considering dimension error, the error of revolute joint clearance, driving error, and the error of spherical joint clearance is established. Additionally, the influence of different errors on the motion accuracy is analyzed. Secondly, an error compensation strategy of controlling the driving angle is proposed. The analysis of error compensation is carried out by a numerical example. Comparing the results before and after compensation, it is known that the robot can move along the desired position, so the notion error of the robot is compensated, which proves that this method is effective for improving the motion accuracy of the robot.