A method, device and system for error correction of a parallel robot
An error correction and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of mechanical parts processing and assembly errors, increase production costs, and difficulty in ensuring accuracy, so as to reduce impact and improve accuracy. Effect
Active Publication Date: 2021-09-21
深圳若贝特智能机器人科技有限公司
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Problems solved by technology
[0005] Regarding the above-mentioned related technologies, the inventor believes that due to the machining and assembly errors of the mechanical parts themselves, it is difficult to ensure the accuracy, and at the same time, in order to improve the processing and assembly accuracy, the production cost is also increased, so it needs to be improved
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[0062] This specific embodiment is only an explanation of this application, and it is not a limitation of this application. Those skilled in the art can make modifications to this embodiment without creative contribution according to needs after reading this specification, but as long as the rights of this application All claims are protected by patent law.
[0063] In order to make the purpose, technical solutions and advantages of this application clearer, the following in conjunction with the attached Figure 1-4 And embodiment, this application is described in further detail. It should be understood that the specific embodiments described here are only used to explain the present application, not to limit the present application.
[0064] The embodiment of the present application discloses a method for error correction of a parallel robot.
[0065] refer to figure 1 , the method for error correction of a parallel robot uses a parallel robot 1 , and the parallel robot 1 ...
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The present application relates to a method, device and system for error correction of a parallel robot, which includes a parallel robot, an end effector of the parallel robot, a detection tool and a measurement tool, the end effector is located at the end of the parallel robot, and the measurement tool is arranged at the end On the actuator, the detection tool is set in the working space of the parallel robot; by controlling the movement of the end effector to drive the movement of the measurement tool, the end of the measurement tool is driven to move the distance parameter, and the coordinate information of the end of the measurement tool is recorded at this time; according to the analysis and calculation, The compensation value is added to the origin coordinates of the parallel robot, and used as the new origin coordinates of the parallel robot after error correction. The application has the effect of reducing the influence of processing and assembly errors on the parallel robot.
Description
technical field [0001] The present application relates to the field of robot equipment, in particular to a method, device and system for error correction of a parallel robot. Background technique [0002] Parallel robot, English name Parallel Mechanism, referred to as PM, can be defined as a moving platform and a fixed platform connected by at least two independent kinematic chains, the mechanism has two or more degrees of freedom, and is driven in parallel. closed-loop mechanism. [0003] The origin is the benchmark of the robot coordinate system. A robot that cannot determine the origin has no way to judge its own position, let alone precisely control its movement to a specified position. [0004] In order to accurately control the parallel robot and understand the error of the parallel robot, it is necessary to calibrate the parallel robot, and the calibration of the origin of the parallel robot is one of the more important processes. The existing method is to ensure the...
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IPC IPC(8): B25J9/16B25J19/00
CPCB25J9/1602B25J9/1664B25J9/1692B25J19/0095
Inventor 侯伟钦孟强
Owner 深圳若贝特智能机器人科技有限公司