CN116476036A - Six-axis machining parallel device control method for comprehensive parameter optimization calibration - Google Patents
Six-axis machining parallel device control method for comprehensive parameter optimization calibration Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to the technical field of robots, and provides a six-axis machining parallel device control method for optimizing and calibrating comprehensive parameters, which comprises the following steps: establishing a kinematic model and an error model; selecting a calibration point, acquiring a motor driving angle signal corresponding to a calibration path, driving the parallel branched chain and the space rotary branched chain to move according to the motor driving angle signal, and acquiring a position and posture signal of the space rotary platform; identifying corresponding error source parameters according to the position and pose signals of the spatial rotation platform and the theoretical position and pose signals; improving a kinematic model according to the error source parameters, inputting a calibration path to obtain a calibrated motor driving angle signal, and driving the parallel branched chain and the space rotary branched chain to move according to the calibrated motor driving angle signal; the six-axis machining parallel device comprises a parallel mechanism and a space rotating platform, wherein the parallel mechanism comprises a parallel branched chain, and the space rotating platform comprises a space rotating branched chain. The invention can improve the end pose precision of the six-axis machining parallel device.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a six-axis machining parallel device control method for comprehensive parameter optimization calibration.
Background
Compared with the traditional machine tool, the general industrial serial robot has lower rigidity. During the robot drilling process, vibrations occur when the tool contacts the workpiece. Such vibrations will cause the drill bit to slip along the surface of the workpiece, affecting the positional accuracy of the hole. Different from the serial structure of the traditional industrial robot, the parallel robot has annular closed-chain constraint between the input and the tail end output, has the advantages of high rigidity, small motion inertia, strong load capacity and the like, is suitable for application scenes with high speed and high load, and overcomes the defects of low rigidity and error accumulation of the traditional industrial robot to a certain extent.
Based on the advantages of the parallel robot, a reasonably designed parallel mechanism, a space rotating platform and a feeding processing platform are combined, a six-degree-of-freedom kinematic inverse solution algorithm is assisted, and a six-axis processing parallel device can be obtained through kinematic calibration and detection. Therefore, it is of great importance to study a parallel device control method with higher positioning accuracy.
Disclosure of Invention
Based on the above, in order to improve the positioning precision of the six-axis machining parallel device, the invention provides a control method of the six-axis machining parallel device with optimized and calibrated comprehensive parameters, which comprises the following specific technical scheme:
a six-axis machining parallel device control method for comprehensive parameter optimization calibration comprises the following steps:
s1, establishing a kinematic model according to the six-axis machining parallel device, and establishing an error model based on the kinematic model.
S2, selecting a calibration point according to the error model, acquiring a motor driving angle signal corresponding to the calibration path, driving the parallel branched chain and the space rotation branched chain to move according to the motor driving angle signal, and acquiring a position and posture signal of the space rotation platform.
And S3, identifying corresponding error source parameters according to the spatial rotation platform pose signal and the theoretical pose signal.
And S4, improving the kinematic model according to the error source parameters, inputting the calibration path to obtain a calibrated motor driving angle signal, and driving the parallel branched chain and the space rotary branched chain to move according to the calibrated motor driving angle signal.
The six-axis machining parallel device comprises a parallel mechanism and a space rotating platform, wherein the parallel mechanism comprises a parallel branched chain, the space rotating platform comprises a space rotating branched chain, the space branched chain is installed on the parallel branched chain, and the parallel branched chain and the space rotating branched chain are both configured to be driven by corresponding motors to move.
According to the control method of the six-axis machining parallel device with the optimized and calibrated comprehensive parameters, firstly, a calibration point is selected through an error model, motor driving angle signals corresponding to a calibration path are obtained, parallel branched chains and space rotation branched chains are driven to move according to the motor driving angle signals, space rotation platform pose signals are obtained, corresponding error source parameters are identified according to the space rotation platform pose signals and theoretical pose signals, finally, a kinematic model is improved according to the error source parameters, the calibration path is input to obtain calibrated motor driving angle signals, the parallel branched chains and the space rotation branched chains are driven to move according to the calibrated motor driving angle signals, the end pose precision of the six-axis machining parallel device is greatly improved, the calculation response is fast, and the identification precision is high.
Further, in the kinematic model, the kinematic equation of the parallel branched chain is that
。
Wherein, parallel mechanism still includes base and motion end, parallel branched chain includes three, and every parallel branched chain all includes parallel motor, first lead screw, first nut, guide rail, slider, connecting rod andthe platform connecting block, the guide rail is arranged on the base, the guide rails of the three parallel branched chains are distributed in a star shape, the parallel motor is in transmission connection with the first screw rod, the first screw rod is in transmission connection with the first nut, the sliding block is fixedly arranged on the first nut, the sliding block is in sliding connection with the guide rail, the connecting rod is fixedly connected with the sliding block, the moving tail end is fixedly arranged on the connecting rod through the platform connecting block,is->Slider with parallel branches to +.>Length of parallel motor with parallel branches, +.>Is->Guide rail with parallel branches and->Angle of positive axis->Is->The length of the connecting rod of the parallel branched chain,is->Connecting rod with parallel branched chain and ∈>Angle of positive axis-> and />Is the position of the axle center of the platform connecting block> and />For the position of the ends of the parallel motor, < > or-> and />Are all intermediate variables.
Further, the error model comprises a parallel mechanism error model, and the parallel mechanism error model is
。
wherein ,indicating link error.
Further, in the kinematic model, the kinematic equation of the spatial rotation platform is thatThe error model comprises a spatial rotation platform error model, and the spatial rotation platform error model is +.>。
The space rotating platform further comprises a tail end moving platform, the space rotating branched chains comprise two space rotating branched chains, each space rotating branched chain comprises a rotating motor, a first speed reducer, a large joint arm and a small joint arm which are sequentially connected, the installation positions of the rotating motors of the two space rotating branched chains are mutually perpendicular, and the rotating motors pass through the first speed reducerThe device is in transmission connection with the joint big arm and drives the joint big arm and the joint small arm to rotate the tail end moving platform to a target angle,for the drive angle of one of the rotating electrical machines, +.>For the drive angle of the other rotating electrical machine,for the drive angle error of one of the rotating electrical machines, +.>Is the driving angle error of the other rotating electric machine.
Further, in step S2, the specific method for selecting the calibration point according to the error model includes the following steps:
according to the formulaDetermining the position and the posture of the calibration point;
sequentially changing according to equidistant step sizesSequentially changing according to equal-rotation-angle step lengthSelecting->The number of calibration points;
wherein ,representing the number of segments of the index point range divided equally.
Further, in step S3, the specific method for identifying the corresponding error source parameter according to the spatial rotation platform pose signal and the theoretical pose signal includes the following steps:
theory of settingPose signalSpatial rotation platform pose signal +.>Spatial rotation platform pose signal +.>Obtaining relative pose by transforming coordinate system>；
According to the theoretical pose signalRelative pose +.>Obtaining pose errors；
Will all beTheoretical parameters of the individual target points->Inputting an error model to obtain a pose error sequence +.>；
The comprehensive parameter optimization objective function is set asThe state transition probability constant calculation formula is +.>Pheromone->Update formula to +.>；
According to the state transition probability constant calculation formulaPheromone->Updating formulasIdentifying corresponding error source parameters;
wherein ,、/>respectively represent ant->Pheromone of (a) and state transition probability, +.>Is a state transition probability constant, when +>When in use, ant->Local search is performed, whereas global search is performed, < ->Represents the volatilization factor of the pheromone,。
further, the six-axis machining parallel device further comprises a feeding machining platform, the feeding machining platform comprises a metal machining tool and a feeding machining mechanism, the feeding machining mechanism comprises a feeding motor, a second speed reducer, a second screw rod and a second nut, the feeding motor is in transmission connection with the second screw rod through the second speed reducer, the second screw rod is in transmission connection with the second nut, and the metal machining tool is fixedly installed on the second nut.
Further, the six-axis machining parallel device further comprises a detection calibration system, the detection calibration system comprises an industrial personal computer, a laser tracker, a laser reflection ball, a motion control card and a driver, the industrial personal computer is in communication connection with the laser tracker, the industrial personal computer is in communication connection with the driver through the motion control card, the driver is in communication connection with the parallel motor, the rotating motor and the feeding motor respectively, the laser tracker is used for collecting position and posture signals of the space rotating platform, and the laser reflection ball is installed on the tail end moving platform.
Drawings
The invention will be further understood from the following description taken in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.
FIG. 1 is a schematic overall flow diagram of a six-axis machining parallel device control method for optimizing and calibrating comprehensive parameters in an embodiment of the invention;
FIG. 2 is a schematic diagram of the overall structure of a six-axis machining parallel device according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of one parallel branch of the parallel mechanism according to an embodiment of the present invention
FIG. 4 is a schematic view of the attitude angle of a spatial rotation stage in accordance with an embodiment of the present invention;
FIG. 5 is a flowchart of a method for identifying error source parameters according to an embodiment of the invention;
FIG. 6 is a bar length error source parameter optimization diagram in accordance with an embodiment of the invention;
FIG. 7 is a graph of optimization of corner error source parameters in accordance with one embodiment of the present invention.
Reference numerals illustrate:
1. a parallel mechanism; 2. a spatial rotation platform; 3. a metal working tool; 4. a feed motion mechanism; 5. a laser tracker; 6. a laser reflection ball; 10. a motor is connected in parallel; 11. a first screw rod; 12. a guide rail; 13. a slide block; 14. a connecting rod; 15. a base; 16. a movement end; 17. a platform connecting block; 20. a rotating electric machine; 21. a joint big arm; 22. a joint forearm; 23. and (5) a tail end moving platform.
Detailed Description
The present invention will be described in further detail with reference to the following examples thereof in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the detailed description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
The terms "first" and "second" in this specification do not denote a particular quantity or order, but rather are used for distinguishing between similar or identical items.
As shown in fig. 1, in one embodiment of the present invention, a control method for a six-axis machining parallel device for optimizing and calibrating comprehensive parameters includes the following steps:
s1, establishing a kinematic model according to the six-axis machining parallel device, and establishing an error model based on the kinematic model.
As shown in fig. 2 and 3, the six-axis machining parallel device comprises a parallel mechanism and a space rotary platform, the parallel mechanism comprises parallel branched chains, the space rotary platform comprises space rotary branched chains, the space branched chains are installed on the parallel branched chains, and the parallel branched chains and the space rotary branched chains are all configured to be driven by corresponding motors to move.
Preferably, in the kinematic model, the kinematic equation of the parallel branched chain is that
。
Wherein, as shown in fig. 2 and 3, the parallel mechanism further comprises a base and a movement end, each parallel branched chain comprises three parallel motor, a first screw rod, a first nut, a guide rail, a slide block, a connecting rod and a platform connecting block, the guide rail is arranged on the base, the guide rails of the three parallel branched chains are distributed in a star shape, the parallel motor is in transmission connection with the first screw rod, the first screw rod is in transmission connection with the first nut, the slide block is fixedly arranged on the first nut, the slide block is in sliding connection with the guide rail, the connecting rod is fixedly connected with the slide block, the movement end is fixedly arranged on the connecting rod through the platform connecting block,is->Slider with parallel branches to +.>Length of parallel motor with parallel branches, +.>Is->Guide rail with parallel branches and->Angle of positive axis->Is->Length of the connecting rod of the parallel branch chain +.>Is->Connecting rod with parallel branched chain and ∈>Angle of positive axis-> and />Is the position of the axle center of the platform connecting block> and />Is the position of the end of the parallel motor. Specifically, one end of each connecting rod of the three parallel branched chains is fixedly connected with a corresponding sliding block, the other end of each connecting rod of the three parallel branched chains is fixedly connected with the platform connecting block, the moving tail end is arranged on the platform connecting block, and the three parallel branched chains are connected with the space rotary platform through the moving tail end> and Are all intermediate variables.
The error model comprises a parallel mechanism error model, and is based on the kinematic formula of the parallel branched chainThe process can obtain the firstThe length from the sliding block with parallel branched chain to the tail end of the parallel motor is
。
When the first isThe connecting rod with parallel branched chain has rod length error +.>When the parallel mechanism error model is
。
As shown in fig. 4, when two rotating motors of the spatial rotation branched chains have no output, the normal vector of the end face of the spatial rotation platform isWhen the first rotary electric machine (i.e., one of the spatially rotating branched rotary electric machines) inputs the drive rotation angle +.>After that, the normal vector becomes +.>When the second rotating electrical machine (i.e., the rotating electrical machine of the other one of the spatially rotating branches) inputs the driving angle +>After that, the normal vector becomes +.>Therefore, the direction vector of the spatial rotation platform can be expressed as +.>。
That is, in the kinematic model, the kinematic equation of the spatial rotation platform is
。
The error model comprises a space rotation platform error model, and the space rotation platform error model is that
。
Wherein, as shown in fig. 2 and 3, the space rotation platform further comprises a terminal motion platform, the space rotation branched chains comprise two space rotation branched chains, the two space rotation branched chains comprise a rotating motor, a first speed reducer, a large joint arm and a small joint arm which are sequentially connected, the installation positions of the rotating motors of the two space rotation branched chains are mutually vertical, the rotating motor is in transmission connection with the large joint arm through the first speed reducer and drives the large joint arm and the small joint arm to enable the terminal motion platform to rotate to a target angle,for the drive angle of one of the rotating electrical machines, +.>For the drive angle of the other rotating electrical machine, +.>For the drive angle error of one of the rotating electrical machines, +.>Is the driving angle error of the other rotating electric machine.
More specifically, the articulated forearm is mounted on and in driving connection with the articulated forearm, and the terminal motion platform is mounted on the articulated forearm.
As a preferable technical scheme, the six-axis machining parallel device further comprises a feeding machining platform and a detection and calibration system.
As shown in fig. 2, the feeding processing platform comprises a metal processing tool and a feeding processing mechanism, the feeding processing mechanism comprises a feeding motor, a second speed reducer, a second screw rod and a second nut, the feeding motor is in transmission connection with the second screw rod through the second speed reducer, the second screw rod is in transmission connection with the second nut, and the metal processing tool is fixedly mounted on the second nut.
The six-axis machining parallel device further comprises a detection calibration system, the detection calibration system comprises an industrial personal computer, a laser tracker, a laser reflection ball, a motion control card and a driver, the industrial personal computer is in communication connection with the laser tracker, the industrial personal computer is in communication connection with the driver through the motion control card, the driver is respectively in communication connection with the parallel motor, the rotating motor and the feeding motor, the laser tracker is used for collecting position and posture signals of a space rotating platform, and the laser reflection ball is installed on the tail end moving platform.
S2, selecting a calibration point according to the error model, acquiring a motor driving angle signal corresponding to the calibration path, driving the parallel branched chain and the space rotation branched chain to move according to the motor driving angle signal, and acquiring a position and posture signal of the space rotation platform.
Specifically, after a motor driving angle signal corresponding to a calibration path is obtained, the motor driving angle signal corresponding to the calibration path is input into a motion control card and a driver, the driver drives corresponding parallel branched chains and space rotary branched chains to move, and a space rotary platform pose signal is measured by a laser tracker and is transmitted to an industrial personal computer.
The parallel motor, the rotary motor and the feed motor are all matched with corresponding drivers. When the parallel motor, the rotating motor and the feeding motor are all servo motors, the driver is a servo driver.
And S3, identifying corresponding error source parameters according to the spatial rotation platform pose signal and the theoretical pose signal.
And S4, improving the kinematic model according to the error source parameters, inputting the calibration path to obtain a calibrated motor driving angle signal, and driving the parallel branched chain and the space rotary branched chain to move according to the calibrated motor driving angle signal.
Optionally, after the calibrated motor driving angle signal is obtained, the calibrated motor driving angle signal is input to a motion control card and a servo driver, the driver drives corresponding parallel branched chains and space rotation branched chains to move, and the position and the posture of the calibrated space rotation platform are measured by a laser tracker and are transmitted to an industrial personal computer. After the position and posture signals of the space rotating platform are subjected to coordinate system transformation and discretization, the industrial personal computer is combined with the theoretical position and posture signals to identify corresponding error source parameters, so that calibration of each actual parameter in the six-axis machining parallel device is completed, and further the parallel mechanism and the movement of the space rotating platform are accurately controlled.
The six-axis machining parallel device can achieve the purposes of high overall rigidity and high bearing capacity by combining the parallel mechanism, the space rotating platform and the feeding machining platform.
As shown in fig. 6 and fig. 7, the six-axis machining parallel device control method based on the comprehensive parameter optimization calibration can identify corresponding error source parameters (including a rod length error source parameter and a corner error source parameter) and optimize the corresponding error source parameters, and has the advantages of fast calculation response and high identification precision.
According to the control method of the six-axis machining parallel device with the optimized and calibrated comprehensive parameters, firstly, a calibration point is selected through an error model, motor driving angle signals corresponding to a calibration path are obtained, parallel branched chains and space rotation branched chains are driven to move according to the motor driving angle signals, space rotation platform pose signals are obtained, corresponding error source parameters are identified according to the space rotation platform pose signals and theoretical pose signals, finally, a kinematic model is improved according to the error source parameters, the calibration path is input to obtain calibrated motor driving angle signals, the parallel branched chains and the space rotation branched chains are driven to move according to the calibrated motor driving angle signals, the end pose precision of the six-axis machining parallel device is greatly improved, the calculation response is fast, and the identification precision is high.
In one embodiment, in step S2, the specific method for selecting the calibration point according to the error model includes the following steps:
s20, according to the formulaAnd determining the position and the posture of the calibration point.
Specifically, the position and the posture of the space rotary platform are jointly determined by three parallel motors and two rotary motors. For three parallel motors, it is calculated by the formulaDetermining a specific position by varying the driving angle +.> and />And determining an attitude angle. Thus, the calibration point position can be expressed as +.>。
S21, sequentially transforming according to equidistant step sizesSequentially changing +/according to the step length of equal rotation angle>Selecting->A mark point, wherein->Representing the number of segments of the index point range divided equally,the following table shows:
in one embodiment, as shown in fig. 5, in step S3, the specific method for identifying the corresponding error source parameter according to the spatial rotation platform pose signal and the theoretical pose signal includes the following steps:
s30, setting a theoretical pose signalSpatial rotation platform pose signal +.>Spatial rotation platform pose signal +.>Obtaining relative pose by transforming coordinate system>The method comprises the steps of carrying out a first treatment on the surface of the Specifically, spatial rotation platform pose signal +.>Can be acquired in real time by a laser tracker.
S31, according to the theoretical pose signalRelative pose +.>Obtaining pose errors。
S32, allTheoretical parameters of the individual target points->Inputting an error model to obtain a pose error sequence +.>。
S33, setting the comprehensive parameter optimization objective function asThe state transition probability constant calculation formula is +.>Pheromone->Update formula to +.>。
S34, calculating a formula according to the state transition probability constantPheromone->Update formula->And identifying the corresponding error source parameters.
wherein ,、/>respectively represent ant->Pheromone of (a) and state transition probability, +.>Is a state transition probability constant, when +>When in use, ant->Local search is performed, whereas global search is performed, < ->Represents the volatilization factor of the pheromone,。
in one embodiment, the motion control card is DMC-4143-BOX; the model of each branched-chain parallel motor of the parallel mechanism is SGM7A-10AFA61, and the model of the corresponding driver is SGD7S-120A00A; the model of a rotating motor of each branched chain of the space rotating platform is SGM7A-08AFA61, and the model of a corresponding driver is SGD7S-5R5A00A; the model of the first speed reducer and the model of the second speed reducer are FB90-30-SGM7A-08AFA61, the laser tracker adopts Leica AT960, and the specific parameters are as follows: sensitivity is 10 μm, and data acquisition rate is 1000Hz.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (8)
1. The six-axis machining parallel device control method for comprehensive parameter optimization calibration is characterized by comprising the following steps of:
s1, establishing a kinematic model according to the six-axis machining parallel device, and establishing an error model based on the kinematic model;
s2, selecting a calibration point according to the error model, acquiring a motor driving angle signal corresponding to a calibration path, driving a parallel branched chain and a space rotation branched chain to move according to the motor driving angle signal, and acquiring a position and posture signal of a space rotation platform;
s3, identifying corresponding error source parameters according to the spatial rotation platform pose signal and the theoretical pose signal;
s4, improving the kinematic model according to the error source parameters, inputting the calibration path to obtain a calibrated motor driving angle signal, and driving the parallel branched chain and the space rotary branched chain to move according to the calibrated motor driving angle signal;
the six-axis machining parallel device comprises a parallel mechanism and a space rotating platform, wherein the parallel mechanism comprises a parallel branched chain, the space rotating platform comprises a space rotating branched chain, the space branched chain is installed on the parallel branched chain, and the parallel branched chain and the space rotating branched chain are both configured to be driven by corresponding motors to move.
2. The method for controlling a six-axis machining parallel device with optimized calibration of comprehensive parameters according to claim 1, wherein in the kinematic model, the kinematic equation of the parallel branched chain is
；
The parallel mechanism further comprises a base and a movement tail end, each parallel branched chain comprises three parallel motors, a first screw rod, a first nut, guide rails, sliding blocks, connecting rods and platform connecting blocks, the guide rails are arranged on the base and distributed in a star shape, the parallel motors are in transmission connection with the first screw rods, the first screw rods are in transmission connection with the first nuts, the sliding blocks are fixedly arranged on the first nuts, and the sliding blocks are arranged on the base in a fixed modeThe block is in sliding connection with the guide rail, the connecting rod is fixedly connected with the sliding block, the moving tail end is fixedly arranged on the connecting rod through the platform connecting block,is->Slider with parallel branches to +.>Length of parallel motor with parallel branches, +.>Is->Guide rail with parallel branches and->Angle of positive axis->Is->Length of the connecting rod of the parallel branch chain +.>Is->Connecting rod with parallel branched chain and ∈>Angle of positive axis-> and />Is the position of the axle center of the platform connecting block> and />For the position of the ends of the parallel motor, < > or-> and />Are all intermediate variables.
3. The six-axis machining parallel device control method for comprehensive parameter optimization calibration according to claim 2, wherein the error model comprises a parallel mechanism error model, and the parallel mechanism error model is
；
wherein ,indicating link error.
4. The six-axis machining parallel device control method for optimizing and calibrating comprehensive parameters according to claim 3, wherein in the kinematic model, a kinematic equation of a space rotation platform is thatThe error model comprises a space rotation platform error model, and the space rotation platform error model is that
；
Wherein the space rotary platform further comprises a tail end motion platform, the space rotary branched chains comprise two space rotary branched chains, the two space rotary branched chains comprise rotary motors, first speed reducers, large joint arms and small joint arms which are sequentially connected, the installation positions of the rotary motors of the two space rotary branched chains are mutually perpendicular, the rotary motors are in transmission connection with the large joint arms through the first speed reducers and enable the tail end motion platform to rotate to a target angle through driving the large joint arms and the small joint arms,for the drive angle of one of the rotating electrical machines, +.>For the drive angle of the other rotating electrical machine, +.>For the drive angle error of one of the rotating electrical machines, +.>Is the driving angle error of the other rotating electric machine.
5. The six-axis machining parallel device control method for optimizing and calibrating comprehensive parameters according to claim 4, wherein in step S2, the specific method for selecting calibration points according to the error model comprises the following steps:
according to the formulaDetermining the position and the posture of the calibration point;
sequentially changing according to equidistant step sizesSequentially changing according to equal-rotation-angle step lengthSelecting->The number of calibration points;
wherein ,representing the number of segments of the index point range divided equally.
6. The method for controlling a six-axis machining parallel device with optimized calibration of comprehensive parameters according to claim 5, wherein in step S3, the specific method for identifying the corresponding error source parameters according to the spatial rotation platform pose signal and the theoretical pose signal comprises the following steps:
setting a theoretical pose signalSpatial rotation platform pose signal +.>Spatial rotation platform pose signal +.>Obtaining relative pose by transforming coordinate system>；
According to the theoretical pose signalRelative pose +.>Obtaining pose errors；
Will all beTheoretical parameters of the individual target points->Inputting an error model to obtain a pose error sequence +.>；
The comprehensive parameter optimization objective function is set asThe state transition probability constant calculation formula is +.>Pheromone->Update formula to +.>；
According to the state transition probability constant calculation formulaPheromone->Updating formulasIdentifying corresponding error source parameters;
wherein ,、/>respectively represent ants/>Pheromone of (a) and state transition probability, +.>As state transition probability constant, whenWhen in use, ant->Local search is performed, whereas global search is performed, < ->Represents the volatilization factor of the pheromone,。
7. the method for controlling the six-axis machining parallel device for optimizing and calibrating comprehensive parameters according to claim 6, wherein the six-axis machining parallel device further comprises a feeding machining platform, the feeding machining platform comprises a metal machining tool and a feeding machining mechanism, the feeding machining mechanism comprises a feeding motor, a second speed reducer, a second screw rod and a second nut, the feeding motor is in transmission connection with the second screw rod through the second speed reducer, the second screw rod is in transmission connection with the second nut, and the metal machining tool is fixedly installed on the second nut.
8. The method for controlling the six-axis machining parallel device for optimizing and calibrating comprehensive parameters according to claim 7, wherein the six-axis machining parallel device further comprises a detection and calibration system, the detection and calibration system comprises an industrial personal computer, a laser tracker, a laser reflection ball, a motion control card and a driver, the industrial personal computer is in communication connection with the laser tracker, the industrial personal computer is in communication connection with the driver through the motion control card, the driver is respectively in communication connection with the parallel motor, the rotating motor and the feeding motor, the laser tracker is used for collecting position signals of a space rotating platform, and the laser reflection ball is arranged on the tail end moving platform.
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