Error Modeling Analysis of Parallel Robot Based on Improved Fish Swarm Algorithm

The parallel robot has the characteristics of good stiffness, stable structure, strong bearing capacity, high motion accuracy, and easy inverse solution of the parallel mechanism, which is conducive to online real-time calculation of the robot. Therefore, the parallel robot makes up for the shortcomings of the serial robot and expands the application range of the robot. In order to improve the accuracy of 6-PRRS parallel robot, based on the kinematics analysis of 6-PRRS parallel robot, this paper studies the error analysis and calibration method of the parallel robot. Fish swarm algorithm is a simple and effective method for parallel robot control. Through the joint simulation and verification analysis of Adams and Matlab, the influence of the errors of the parallel mechanism and the series mechanism on the end position is verified, so as to reveal the coupling error characteristics of the 5-DOF series-parallel mechanism. Through the experimental research on the end position accuracy of the prototype and the comparison with the simulation data of the 5-DOF series-parallel mechanism, the feasibility of the theoretical research scheme is obtained, so as to transform the theoretical research results into practical engineering applications.