Self-calibration method of parallel robot

A robot and self-calibration technology, which is applied in the field of robots, can solve the problems of harsh installation conditions, difficult station layout of measuring equipment, and high operation requirements, and achieve the effects of easy installation accuracy, low calibration environment requirements, and high measurement accuracy

Inactive Publication Date: 2012-09-05
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 of parallel robot
  • Self-calibration method of parallel robot
  • Self-calibration method of parallel robot

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Embodiment Construction

[0018] In conjunction with the accompanying drawings, the parallel robot self-calibration method of the present invention will be described in detail by taking it as an example.

[0019] 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 drive branch 3 ( A 1 B 1 , A 2 B 2 ,..., A 6 B 6 ) and hinges 4 and 5 (Hooke hinges or spherical hinges) connecting each branch to the fixed and moving platforms; three measurement branches 6 ( A 7 B 7 , A 8 B 8 , A 9 B 9 ), the two ends of which are respectively consolidated with the fixed and moving platforms (can be threaded or welded, and the position is arbitrary), and each branch is equipped with a rope sensor 7; the mobile pair of each driving branch of the parallel robot is installed Displacement sensor 8.

[0020] Corresponding to a specific pose, the relationship equation between the length of the 6 driving branches and 3...

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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

technical field [0001] The invention relates to a robot, especially a method for self-calibration of a parallel robot. Background technique [0002] The parallel robot is a multi-loop closed-chain mechanism and the kinematic chains and joint kinematic pairs are arranged in space. There are many structural parameters and difficult to detect. Therefore, the calibration of the parallel robot is much more complicated than that of the traditional serial robot. The difficulty of parallel robot calibration lies in the acquisition of the pose information of the moving platform and the initial rod length of each branch. No matter which calibration method is used, all or part of the motion 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 the help of precise external measurement equipment. During calibration, all the measurement points should be...

Claims

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Application Information

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Patent Type & Authority Patents(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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