Pose error analysis and compensation of 2PSR-PUU parallel machine tool based on improved particle swarm optimization algorithm
LIANG Wei
HAO Liangliang
Abstract：[Objective]In order to improve the pose accuracy of the 2PSR-PUU parallel machine tool with large swing angle characteristics,related research was conducted on the 2PSR-PUU parallel machine tool as the object.[Methods]Firstly,the closed-loop vector method was used to solve the forward and inverse kinematics of the parallel robot.Secondly,an error model for parallel robots was established using partial differential theory,and a quantitative analysis was conducted on the relation between error parameters and the pose accuracy of the moving platform.The error compensation model of the parallel machine tool was established,and the improved particle swarm optimization algorithm was introduced to perform optimization solution of the error compensation function.Finally,simulation analysis of the error model for the parallel robot was carried out in Matlab.[Results]The simulation and test results show that after error compensation of the parallel machine tool,the order of error of each pose parameter is effectively improved.The maximum error values of the moving platform in the x and z axes and the angle of freedom direction in the φ direction are reduced from 1.614 mm,1.612 mm,and 0.468° to 0.001 99 mm,0.001 50 mm,and 0.001 1°,respectively.Moreover,the peak in the pose error curve before and after compensation is improved,proving that the error compensation algorithm can effectively improve the motion stability and pose accuracy of the 2PSR-PUU parallel machine tool.
Keywords：Parallel machine toolError analysisImproved particle swarm optimization algorithmError compensation
Publication Date：2026-07-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：7( 100-106 )