Teaching mechanical arm parameter calibration device and method of three-degree of freedom parallel mechanism
A technology of parameter calibration and degree of freedom, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as high cost of use, high technical threshold, and large impact, and achieve improved efficiency and precision, compact overall structure, and easy disassembly and assembly. convenient effect
Active Publication Date: 2017-09-22
FOSHAN UNIVERSITY +1
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Problems solved by technology
At present, drag teaching robots have been used in production lines, but their use costs are high and the technical threshold is high. At the same time, there are teaching calibration methods on site that are greatly affected by subjective factors, and the calibration accuracy is unstable, which affects the efficiency of teaching calibration. with precision
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[0022] The teaching manipulator parameter calibration device of the three-degree-of-freedom parallel mechanism of the present invention will be clearly and completely described below in conjunction with the accompanying drawings.
[0023] Such as figure 1 and figure 2 As shown, the teaching manipulator parameter calibration device of the three-degree-of-freedom parallel mechanism of the present invention includes a support platform, a slider 5 arranged on the support platform, a robot 3 arranged on the slider 5, and a robot 3 arranged on the slider 5. A three-degree-of-freedom parallel mechanism 1 on the robot, a turntable 2 arranged on the three-degree-of-freedom parallel mechanism 1 , and a teaching robot arm 4 arranged on the slider 5 .
[0024] Such as figure 1 and figure 2 As shown, the slider 5 is arranged on the support platform, and can slide back and forth on the support platform. The robot 3 is a common robot on the market, the robot 3 is provided with a mechan...
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The invention discloses a teaching mechanical arm parameter calibration device of a three-degree of freedom parallel mechanism. The teaching mechanical arm parameter calibration device comprises a robot, the three-degree of freedom parallel mechanism arranged on the robot, a rotary table arranged on the three-degree of freedom parallel mechanism and a teaching mechanical arm positioned above the three-degree of freedom parallel mechanism, wherein the three-degree of freedom parallel mechanism comprises a supporting assembly, a connection strengthening rod, a stationary platform, a mounted bearing, a rotary supporting shaft, a connecting shaft, a handled linear bearing, a motion rod, a spherical hinge assembly, a movable platform positioned above the spherical hinge assembly, a calibration supporting shaft arranged above the movable platform, a fixed block arranged on the calibration supporting shaft and a calibration rod arranged on the fixed block. The teaching mechanical arm parameter calibration device can realize motion of the movable platform in three-degree of freedom, adopts the manual dead lock manner, does not need the tedious electricity, liquid and gas control, is compact and light in overall structure and convenient to mount and dismantle, combines the advantages of series connection and parallel connection, and adopts the least square method to calibrate the parameter to effectively improve the teaching calibration efficiency and precision.
Description
technical field [0001] The invention relates to the technical field of teaching manipulators, in particular to a parameter calibration device and method for a teaching manipulator of a three-degree-of-freedom parallel mechanism. Background technique [0002] In order to make the robot move on a specific trajectory, a teaching robot arm is usually used, and the teaching personnel manually operate and teach the teaching robot arm, so that the teaching robot arm moves according to the desired movement, and at the same time, the position of the teaching robot arm Information such as stroke, joint angle and height are recorded in the controller, and then the recorded data information is converted into the action program of the robot. However, before teaching, it is necessary to calibrate the robot and the teaching manipulator, especially the parameter calibration of the teaching articulated arm. Calibration is an integrated process of modeling, measurement, parameter identificati...
Claims
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IPC IPC(8): B25J9/00B25J9/22B25J19/02
CPCB25J9/00B25J9/0045B25J9/0081B25J19/02Y02P90/02
Inventor 汪健晓张幼财秦磊
Owner FOSHAN UNIVERSITY