多信息融合胶印机精密装配机器人校准方法  

Calibrating the Error of the Multiinformation Fusion and Precision Assembly Robot for Printing Machine

作　　者：李新佩 曹少中 项宏峰 赵伟 

机构地区：[1]高端印刷设备信号与信息处理北京市重点实验室,北京102600

出　　处：《北京印刷学院学报》2016年第6期48-52,共5页Journal of Beijing Institute of Graphic Communication

基　　金：国家自然科学基金(61272030;61472461)

摘　　要：为解决胶印机轴承套筒安装效率低、对操作工人身体伤害大的问题,提出了多信息融合胶印机精密装配机器人。对该机器人来说,精确测量和精确模型是完成装配的基础,激光测距器误差的校准是保证精确装配的关键因素。基于探入式测量工装与六自由度并联平台之间的机械关系,提出了激光测距器安装误差校准的方法,从而减少了测距读数的误差,为机器人基于探入式测量工装的精确控制奠定了基础。Due to the low efficiency in the installation of the bearing sleeves for the printing machines and the great damages the installation process does damage to the operators , the multi-information fusion and precision assembly robot for printing machine is proposed. For the robot , the precise measurement and accurate model are the basis of completing assembly and the calibration of laser-range finder error is the key factor to ensure the accurate assembly. Based on the mechanical relationship between the probe-into measure tooling and the six degree of freedom parallel platform , a method for calibrating the error of the laser range-finders which are installed in the probe-into measure tooling is proposed. Thus , eventually , it reduces error and lays a foundation for the accurate control of robot based on probe-into measure tooling.

关 键 词：胶印机精密装配机器人 六自由度平台 校准 激光测距器 探入式测量工装 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]