Self-calibration method for parallel robot

A robot and self-calibration technology, applied in the field of robotics, can solve the problems of harsh instrument installation conditions, difficult installation of measuring equipment, long test distance, etc., and achieve the effect of easy installation accuracy, low calibration environment requirements, and low cost.

Inactive Publication Date: 2011-12-14
YANSHAN UNIV
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Problems solved by technology

For the equipment to be calibrated, especially the high-altitude operation equipment, due to the long test distance, the layout of the measuring equipment will be very difficult, and the installation conditions of these instruments are relatively harsh, requiring fine adjustment during application, which takes a long time and requires high operation requirements. Inconvenient application

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  • Self-calibration method for parallel robot

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Embodiment Construction

[0017] The self-calibration method of the parallel robot according to the present invention is described in detail with reference to the accompanying drawings.

[0018] Such as figure 1 As shown, the parallel robot involved in the present invention consists of a fixed platform 1, a moving platform 2, and a driving branch 3 ( A 1 B 1 , A 2 B 2 ,..., A 6 B 6 ) And hinges 4 and 5 (Hooker hinges or spherical hinges) that connect each branch to the fixed and moving platforms; 3 measuring branches 6 are added between the fixed platform 1 and the moving platform 2 of the parallel robot. A 7 B 7 , A 8 B 8 , A 9 B 9 ), the two ends of which are respectively fixed to the fixed and moving platforms (can be connected by thread or welded, at any position), each branch is installed with a rope sensor 7; the parallel robot is installed on the moving pair of each driving branch Displacement sensor 8.

[0019] Corresponding to a specific pose, the relationship equations between 6 driving branches ...

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Abstract

The invention discloses a self-calibration method of a parallel robot. The method comprises the following steps of: arranging a displacement sensor on each driving branch of the parallel robot, additionally arranging a measuring branch between a fixed platform and a movable platform of the parallel robot, arranging a rope sensor on the measurement branch, establishing a function relation between the relative variation of displacement of the drive branches and the measuring branch and parameters of pose of the movable platform and mechanism parameters of all the branches, driving the parallel robot to carry out pose transformation, enabling the number of established equations to be greater than or more to the number of the mechanism parameters to be identified, and carrying out numerical value solving to obtain poses of the movable platform in any state and mechanism parameter errors and further realize self-calibration. The self-calibration method has the advantage of low cost, convenience for operation and freedom from restriction of distance, hardly has restriction to mechanism design and is a good choice for calibration schemes of the parallel robots.

Description

[0001] Technical field [0002] The invention relates to a robot, especially a method for self-calibration of a parallel robot. Background technique [0003] Parallel robots are multi-loop closed-chain mechanisms and each kinematic chain and joint kinematic pairs are arranged in space. There are many structural parameters and detection is difficult. Therefore, the calibration of parallel robots is much more complicated than traditional serial robots. The difficulty in the calibration of the parallel robot lies in the acquisition of the pose information of its moving platform and the initial pole length of each branch. No matter what calibration method is adopted, all or part of the movement information of the parallel robot needs to be measured. At present, the method of external calibration is basically used for parallel robots. The external calibration needs to be tested with sophisticated external measuring equipment. During calibration, all the measuring points should be dete...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B21/00G01B21/02
Inventor 赵永生侯雨雷姚建涛段艳宾
Owner YANSHAN UNIV
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