A Calibration Method for Parallel Robot Based on Subset of Terminal Error Detection Information
A technology of information subset and error detection, applied in the field of calibration, can solve the problems of many terminal errors and the identifiability of structural errors that are not proposed.
Active Publication Date: 2022-03-15
SOUTH CHINA UNIV OF TECH +1
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[0004] In the existing technology, the literature titled "Kinematic Calibration Technology of 6-DOF Parallel Configuration Equipment Based on Detection Information of Minimum Subset of Terminal Error" (The 5th International Youth Design and Manufacturing Science Conference.0.) proposed a A kinematic calibration method based on the detection information of the minimum error subset, which can simplify the work of error measurement, but does not propose how to solve the problem of identifiability of structural errors
The document titled "Step-by-step kinematic calibration of planar three-degree-of-freedom parallel machine tool" (Chinese Science (Series E: Technical Science), 2009 (01): 67-75.) proposes to perform QR decomposition on the identification matrix, and use the decomposed The upper triangular square matrix R proposes the least parameter error linear combination theorem, which ensures the identifiability of structural parameters, but there are still many terminal errors that need to be measured
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[0068] A parallel robot calibration method based on a subset of terminal error detection information, such as figure 1 shown, including the following steps:
[0069] S1. Establish the kinematics model of the parallel robot based on the D-H method;
[0070] In this embodiment, the 3-CRU parallel robot used includes a dynamic platform, a static platform and three CRU branch chains arranged symmetrically to the center, where C, R and U represent the cylindrical pair, the revolving pair and the Hooke hinge respectively. Each branch chain is connected to the static platform at one end through a cylindrical pair, and connected to the dynamic platform at the other end through a Hooke hinge. Based on the D-H method, the kinematics model of the 3-CRU parallel robot is established. Taking the branch chain 1 as an example, the link coordinate system is embedded in each link mechanism of the 3-CRU parallel robot according to certain rules, so as to establish the links of the branch chain...
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The invention discloses a parallel robot calibration method based on terminal error detection information subset. The method comprises the following steps: establishing a parallel robot kinematics model based on the D-H method; establishing a parallel robot error model based on a matrix method; simplifying the parallel robot error model based on the least parameter linear combination theorem; establishing a parallel robot based on a terminal error detection information subset Robot error identification model; measure the actual pose of the end of the parallel robot, and make a difference from the theoretical pose to obtain the end pose error of the parallel robot; compensate the end error of the parallel robot based on the identification result of the structural error of the parallel robot. The parallel robot calibration method based on the terminal error detection information subset provided by the present invention has the advantages of simplicity, practicality, high efficiency, and quickness, and is suitable for parallel robots with 6 degrees of freedom and less degrees of freedom, and has certain references for the accuracy calibration of other mechanisms significance.
Description
technical field [0001] The invention relates to a calibration method, in particular to a parallel robot calibration method based on a terminal error detection information subset. Background technique [0002] Accuracy calibration is an effective means to improve the motion accuracy of the terminal of a parallel robot. However, most of the existing calibration methods need to measure the full set of six-dimensional pose errors at the terminal, and the calibration process is cumbersome. [0003] The complete set of terminal error detection information is composed of the six-dimensional pose error of the robot terminal at the measuring point, and the subset of terminal error detection information is a part of the complete set of terminal error detection information. In most cases, since there is no commercial instrument available to accurately measure the three-dimensional attitude of a rigid body in space, it is extremely difficult and inefficient to measure the attitude error...
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IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 张铁马广才曹亚超
Owner SOUTH CHINA UNIV OF TECH