Zero calibrating method for two-degree-freedom high speed parallel robot

Abstract

The invention discloses a zero calibrating method for a two-degree-freedom high speed parallel robot. The zero calibrating method comprises the following steps: 1), mounting an extension scale with scales between a fixed platform and a tail end platform; 2), building a rectangular coordinate system in the working plane of the robot; 3), recording the reading H1 of the extension scale in any working space position, the reading H2 of the extension scale after first time translation and the reading H3 of the extension scale after translation again; 4), obtaining an included angle between the master arm of the robot after the translation again and the horizontal direction through calculating, then enabling the master arm to drive the motor to rotate for a corresponding angle, and then driving the master arm of robot to rotate to a horizontal position inside a working space range of the robot. According to the zero calibrating method provided by the invention, complex algorithms and calibrating tools are not required, and the entire calibrating process is simple and convenient; and the zero calibrating method provided by the invention overcomes uncertain factors in manual calibrating, can reach a relatively high calibrating accuracy, and the accuracy can reach 0.1 degree.

Description

technical field [0001] The invention relates to the technical field of calibration of industrial robots, in particular to a zero point calibration method of a two-degree-of-freedom high-speed parallel robot. Background technique [0002] The zero point is the benchmark of the robot coordinate system. A robot that cannot determine the zero point has no way to judge its own position, let alone precisely control its movement to a specified position. Usually, before the industrial robot leaves the factory, the mechanical parameters of the robot are calibrated, and the parameters and zero position of each connecting rod of the industrial robot are given. However, in some special cases, such as sudden power failure, collision with the environment, exceeding the mechanical limit position, and manually moving the robot joints, etc., the zero point will be lost. How to find the zero point position of the robot easily, quickly and accurately is the key to accurately controlling the ro...

AI Technical Summary

Problems solved by technology

However, in some special cases, such as sudden power failure, collision with the environment, exceeding the mechanical limit position, and manually moving the robot joints, etc., the zero point will be lost. How to find the zero point position of the robot easily, quickly and accurately is the key to accurately controlling the robot movement. premise and guarantee

However, at present, the zero point calibration method of the two-degree-of-freedom high-speed parallel robot is still stuck in the original method of manual leveling using a level bar, and there is no relatively simple and accurate method to restore the zero point of the robot that has lost the zero point.

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