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Method and device for calibrating mechanical parameters of SCARA robot and SCARA robot

A technology of mechanical parameters and calibration methods, applied in the field of robots, can solve the problem of low calibration accuracy, and achieve the effect of improving absolute positioning accuracy

Active Publication Date: 2020-05-08
SHENZHEN YUEJIANG TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of this, the embodiment of the present invention provides a method and device for calibrating mechanical parameters of a SCARA robot, and a SCARA robot to solve the problem of low calibration accuracy of the jack calibration method in the prior art

Method used

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  • Method and device for calibrating mechanical parameters of SCARA robot and SCARA robot
  • Method and device for calibrating mechanical parameters of SCARA robot and SCARA robot
  • Method and device for calibrating mechanical parameters of SCARA robot and SCARA robot

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Effect test

Embodiment 1

[0031] figure 1 Schematic diagram of the structure of the SCARA robot, figure 1 Among them, the SCARA robot has four joints, namely the first joint, the second joint, the third joint and the fourth joint, and the four arm lengths corresponding to the four joints, namely the first arm length, the second arm length, the The length of the three arms and the length of the fourth arm, the SCARA robot also includes four axes, that is, one axis, two axes, three axes and four axes, corresponding to figure 1 J1, J2, J3 and J4 in. Among them, the first joint, the second joint and the fourth joint are joints that rotate around the Z axis, and the third joint is a joint that translates along the Z axis. In the embodiment of the present invention, for the three joints that rotate around the Z axis Joints are calibrated.

[0032] In order to calibrate the SCARA robot, the application installs a position recording pen at the fourth joint of the robot, that is, the end position of the robo...

Embodiment 2

[0120] Such as Figure 5 as shown, Figure 5 A schematic flow chart of a method for calibrating the mechanical parameters of a SCARA robot provided in another embodiment of the present invention, before obtaining the first measurement data and the second measurement data of the robot, may also include the process of calibrating the reduction ratio of the robot, thereby It is convenient for angle acquisition according to the calibrated reduction ratio. Wherein, the calibration process of the reduction ratio includes:

[0121] S206: Control the specified joints of the robot to move, and record the starting point coordinates, intermediate point coordinates, and end point coordinates of the arc trajectory formed when the specified joints move, and the rotation angle of the specified joint motors.

[0122] Wherein, the designated joint may be any one of the first joint, the second joint and the fourth joint, and when the designated joint is controlled to move, other joints should...

Embodiment 3

[0138] Figure 6 A schematic diagram of a SCARA robot mechanical parameter calibration device provided for an embodiment of the present invention, including a first data acquisition module 601, a first calculation module 602, a control module 603, a second data acquisition module 604, and a second calculation module 605 . in:

[0139] The first data acquisition module 601 is used to acquire a plurality of first measurement data when the first group of joints of the robot are in motion, the first measurement data includes the angles corresponding to each joint when the first group of joints are in motion, and the position of the end of the robot on the digital board. The first coordinate on the coordinate system; wherein, the first group of joints includes any two joints among the first joint, the second joint and the fourth joint of the robot.

[0140] The first calculation module 602 is configured to calibrate the arm length and the first zero point deviation angle correspo...

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Abstract

The invention is suitable for the technical field of robots, and provides a method and device for calibrating mechanical parameters of an SCARA robot and the SCARA robot. By acquiring a plurality of first measurement data and second measurement data, the angle corresponding to each joint when a first group of joints and a second group of joints move, a first zero point deviation angle and a secondzero point are respectively calculated by adopting a multi-point method, so that the calibration precision of the arm length and the zero point is improved, and the calibration precision of the arm length and the zero point affects the absolute positioning precision of the SCARA robot, so that the absolute positioning precision of the SCARA robot is also improved.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a method and device for calibrating mechanical parameters of a SCARA robot and the SCARA robot. Background technique [0002] The SCARA (Selective Compliance Assembly Robot Arm) robot was invented by Makino Hiroshi, Yamanashi University, Japan in 1978. The robot has four axes and four degrees of freedom of motion (including along X, Y, Z direction of translation and rotation about the Z-axis degrees of freedom), such as figure 1 shown. The SCARA robot has compliance in the X and Y directions, and has good rigidity in the Z-axis direction, which is especially suitable for assembly work; its two-bar structure connected in series, similar to a human arm, can reach into a limited space to work Then retract, suitable for moving and accessing items. SCARA robots are compact in structure, flexible in action, fast in speed and high in position accuracy, and are widely used ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J19/00B25J13/00B25J13/08
CPCB25J9/1653B25J9/161B25J19/0095B25J13/00B25J13/088
Inventor 郎需林张华杰刘培超刘主福
Owner SHENZHEN YUEJIANG TECH CO LTD
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