摘要： 提出一种利用蚁群算法补偿Stewart并联机器人位姿误差的方法。基于闭环矢量法建立Stewart并联机器人位姿误差模型，通过 6个驱动杆的长度误差和铰链误差得到并联机器人的位姿误差。在位姿误差模型的基础上，利用基于网格划分策略的连续蚁群算法，通过信息素更新指导蚂蚁反复搜索，对驱动杆杆长误差进行寻优，最终补偿Stewart并联机器人位姿误差。数值仿真结果表明，该方法是有 效的。

关键词: Stewart并联机器人, 位姿误差, 误差补偿, 蚁群算法, 信息素

Abstract: The model of the pose error of Stewart parallel robot is established based on closed-loop vector method. The parallel robot pose error arises from the length error of six drive rods and the hinge error of connection with the upper and lower platform. In this paper, the continuous ant colony algorithm on the basis of mesh strategy for is proposed based on the model of the pose error; the pose error of Stewart parallel robot compensation is obtained by updating the pheromone and guiding the ants search repeatedly and optimizing the error of drive rods. The result of numerical simulation indicates that ant colony algorithm is able to realize the compensation of the pose error of Stewart parallel robot effectively.

Key words: Stewart parallel robot, pose error, error compensation, ant colony algorithm, pheromone

中图分类号: 

• TP212