Simple and low-cost mechanical arm zero position high-accuracy determining method
A robotic arm and low-cost technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems of high price, complicated calibration method, and long time consumption, and achieve the effect of simple shape, simple measurement method, and small damage
Active Publication Date: 2018-05-18
BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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The above calibration methods are relatively complicated, generally time-consuming and expensive
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[0028] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:
[0029] Such as figure 2 Shown is a schematic diagram of a seven-degree-of-freedom manipulator with a zero-position groove. It can be seen from the figure that a simple and low-cost manipulator zero-position high-precision determination device includes: the first shoulder joint housing 1, the first shoulder joint control driver 2. The first shoulder joint shell flange 3, the first groove 4, the second shoulder joint shell flange 5, the second shoulder joint shell 6, the second shoulder joint motor 7, the second groove 8, the second shoulder joint shell A shoulder joint harmonic reducer 9, a first shoulder joint motor 10, an encoder 11, and a gauge block 12; wherein, the gauge block 12 includes an upper boss 13, a lower boss 14 and a handle 15;
[0030] Wherein, the first shoulder joint housing flange 3 is fixedly installed on the top of the fir...
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The invention provides a simple and low-cost mechanical arm zero position high-accuracy determining method and relates to the field of mechanical arm calibration. The simple and low-cost mechanical arm zero position high-accuracy determining method comprises the following steps that (1), a first groove and a second groove are milled; (2), a first shoulder joint shell flange, a first shoulder jointharmonic reducer and a second shoulder joint shell flange are sequentially and coaxially connected; (3), gage blocks are manufactured; (4), a motor drives the second shoulder joint shell flange to rotate, when the first groove and the second groove are visually observed to be aligned in the vertical direction, and the motor stops rotating; and (5), the gage blocks are inserted from side walls ofthe first shoulder joint harmonic reducer, and whether an upper boss and a lower boss are matched with the first groove and the second groove or not is detected, if yes, the mechanical arm zero position is determined, and if not, the step (4) and the step (5) are repeated till the upper boss and the lower boss are matched with the first groove and the second groove. According to the simple and low-cost mechanical arm zero position high-accuracy determining method, a high-accuracy tool is adopted, operation is convenient, the price is low, damage to a mechanical arm joint is small, and accuracyis high.
Description
technical field [0001] The invention relates to the field of mechanical arm calibration, in particular to a simple and low-cost mechanical arm zero position high-precision positioning method. Background technique [0002] When a robotic arm performs a task, high-precision absolute positioning accuracy is required. There are many indicators that affect the absolute positioning accuracy of the manipulator, and the most important one is the determination of the zero position of the manipulator. If the zero position of the manipulator is determined inaccurately, it will directly lead to the inconsistency between the actual DH parameters of the manipulator and the DH parameters of the control theory model, resulting in control errors. [0003] In the traditional search for the zero position of the manipulator, there are many methods, such as using a high-precision ultrasonic sensor to find the zero position after the zero position of the manipulator is lost, or using a laser tra...
Claims
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IPC IPC(8): B25J19/00
CPCB25J19/007
Inventor 李常刘书选杨涛张科王昊倪永健
Owner BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS