Delta Robot Calibration Using Connecting Elements
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Solution Overview
Problem
Current robot calibration methods, particularly for delta robots, are imprecise and require additional mechanical calibration devices, leading to inaccuracies and mechanical loads during product positioning and movement.
Innovation Solution
A robot design where the outer ends of main arms form an equilateral triangle with connecting elements of known dimensions, allowing for precise calibration of servomotors without external calibration aids, using existing forearm bars as connecting elements to establish a defined calibration position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If setting aids are used for calibration, then the robot can be calibrated, but the calibration precision is insufficient and additional mechanical devices are required
Solution Approach 1:
The robot system performs calibration using its own structural components (main arms and connecting elements) rather than requiring external calibration devices. The connecting elements with known dimensions enable the robot to self-calibrate by forming geometric configurations that the controlling means can process to determine precise positions of servomotors and main arms
Solution Approach 2:
Instead of using physical setting aids with unknown positions, the system uses connecting elements with precisely known dimensions and lengths. These connecting elements create a reference model with known geometric relationships that the controlling means can use to calculate and store accurate position data, effectively replacing the need for physical calibration artifacts
2Ease of operation
If setting aids are mounted to the support structure, then calibration can be performed, but mechanical loads occur at the joints due to positioning inaccuracies
Solution Approach 1:
The system replaces mechanical setting aids with a geometric-mathematical calibration approach. The controlling means uses the known dimensions of connecting elements and the geometric configuration (equilateral triangle formation) to calculate positions through kinematic transformation, eliminating the need for mechanical contact and force transmission during calibration, thereby preventing joint loads
3Ease of manufacture
If setting aids are used for calibration, then servomotor positions can be adjusted, but the positioning accuracy of products is reduced
Solution Approach 1:
The system uses connecting elements with precisely known dimensions as a reference model for calibration. These elements create an accurate geometric template (equilateral triangle with known side lengths) that enables the controlling means to store precise position data for servomotors and main arms, ensuring high product positioning accuracy without the errors introduced by physical setting aids
Data Source
AI summary
A robot according to the present disclosure includes a support structure and at least three main arms mounted to be movable relative to the support structure, wherein the outer ends facing away from the support structure are movable to different spatial positions relative to the support structure and relative to each other. The robot further comprises connecting elements having the same lengths by means of which the outer end of each main arm can be connected at a defined distance from the outer end of the two adjacent main arms. The present disclosure also provides a method of calibrating a robot.