Error compensation method for multi-axis parallel kinematics machine tools, a device, an electronic equipment and a storage medium thereof

An error compensation method applied in a multi-axis parallel kinematics machine tool, comprising:

• building a theoretical Jacobian model of the multi-axis parallel machine tool to be compensated;
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• obtaining several geometric parameters of the theoretical Jacobian model and constructing a singularized geometric error model according to the geometric parameters;
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• constructing a singularized geometric error model with modeling error based on the theoretical Jacobian model and the singularized geometric error model;
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• solving the singularized geometric error model with modeling error to obtain a singularized geometric error with modeling error;
• substituting the singularized geometric error with modeling error into the theoretical Jacobian model to construct a Jacobian model with correction term;
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• generating a correction value of a motor of the multi-axis parallel machine tool to be compensated based on the Jacobian model with correction term;
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• calculating a corrected total displacement of the motor based on the correction value of the motor;
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• substituting the corrected total displacement into an error prediction evaluation model to calculate predicted compensation errors under different geometric parameters;
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• selecting a minimum predicted compensation error corresponding to each geometric parameter as a target compensation error;
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• compensating the error of the multi-axis parallel machine tool using the target compensation error;
• wherein the step of constructing a singularized geometric error model with modeling error based on the theoretical Jacobian model and the singularized geometric error model comprises:
• calculating a modeling error difference between the theoretical Jacobian model and the singularized geometric error model;
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• substituting the modeling error difference into the singularized geometric error model to construct the singularized geometric error model with modeling error;
• wherein the step of substituting the corrected total displacement into an error prediction evaluation model to calculate predicted compensation errors under different geometric parameters comprises:
• inputting the corrected total displacement of the motor into a virtual linear model to obtain a correction output of the motor;
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• calculating a theoretical virtual output of the virtual linear model under a theoretical input of the motor;
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• calculating a first output ratio between the correction output and the theoretical virtual output;
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• obtaining an actual model deviation coefficient;
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• calculating a second output ratio between the correction output and an actual physical model output based on the actual model deviation coefficient and the first output ratio;
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• obtaining a kinematic theoretical output of the virtual linear model under the theoretical input of the motor;
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• calculating the predicted compensation errors under different geometric parameters based on the second output ratio and the kinematic theoretical output.