Horizontal Articulated Robot Calibration Using Base Reference Surfaces
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Solution Overview
Problem
Existing calibration methods for horizontal articulated robots lack accuracy and require costly, heavy jigs for calibration, which are not necessary for maintaining high rigidity and precision.
Innovation Solution
A calibration system and method that utilize an installation surface with intersecting reference surfaces on the base and a positioning jig with orthogonal surfaces at the robot's distal end, allowing for precise calibration by releasing the braking function and aligning the positioning surfaces with the installation and reference surfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a heavy, rigid calibration jig is used for calibration, then calibration stability is improved, but device complexity and cost increase
Solution Approach 1:
The patent extracts the essential calibration function from a heavy, rigid calibration jig and implements it using the robot's own structure and a simple positioning jig. The base serves as the calibration reference instead of requiring a separate heavy calibration device, thereby eliminating unnecessary complexity while maintaining calibration stability.
Solution Approach 2:
The robot system performs its own calibration using its base and a simple positioning jig, without requiring external heavy calibration equipment. The base of the robot serves as the calibration reference, enabling the system to self-calibrate and eliminating the need for complex external calibration devices.
2Measurement precision
If a box-shaped base jig with internal surfaces is used for calibration, then calibration reference is improved, but device complexity and cost increase
Solution Approach 1:
The patent extracts the calibration reference function from a complex box-shaped base jig with internal surfaces and relocates it to the robot's base with positioning surfaces. This simplifies the calibration device while maintaining the necessary reference precision for accurate calibration.
Solution Approach 2:
The patent replaces expensive, complex calibration jigs with simpler, lighter positioning jigs that have the essential positioning surfaces. These simpler jigs are sufficient for calibration purposes and reduce both cost and complexity while maintaining measurement precision.
3Measurement precision
If the braking function is released during calibration, then positioning accuracy is improved, but robot stability deteriorates
Solution Approach 1:
The patent applies preliminary action by pre-positioning the positioning jig against the positioning surfaces before releasing the braking function. This ensures that when the brake is released, the robot is already in the correct calibrated position, maintaining both positioning accuracy and stability during the calibration process.
Data Source
AI summary
Provided is a calibration system for a horizontal articulated robot, the system including: an installation surface on which a base of the horizontal articulated robot is installed; two reference surfaces that are provided on the base, that intersect with the installation surface, and that intersect with each other; and a positioning jig that is attached to a distal end of the horizontal articulated robot and that has three positioning surfaces, which respectively and simultaneously come into contact with the installation surface and the two reference surfaces.