可灵活配置的四站式拉线编码器机器人测量系统  

Measurement system of robot based on arbitrary layout for four base stations of cable encoders

作　　者：张得礼[1] 洪伟松 潘国威[1] 朱煜 

机构地区：[1]南京航空航天大学机电学院,江苏南京210016 [2]中国工程物理研究院机械制造工艺研究所,四川绵阳621900

出　　处：《机电工程》2017年第11期1249-1254,共6页Journal of Mechanical & Electrical Engineering

基　　金：江苏省科技支撑计划资助项目(BY2014003-19)

摘　　要：针对结构复杂的机器人,在其末端不安装位置传感器情况下分析其动力学性能的问题,研制出了一种可灵活配置的四站式拉线编码器机器人测量系统。提出了一种简单的四站拉线编码器初始位置校准方法,该方法通过现场简单操作即可使用其粒子群算法迭代解算出4个站点之间的初始位置关系,实现了测量前基站位置的任意安放,提高了系统测量的效率;设计了一种灵活、轻巧的拉线导向结构,实现了拉线编码器的任意方向运动,从而实现了测量系统与机器人运动的随动,在不改变机器人原有结构和动力学特性的情况下,方便地获得了机器人的末端位置信息。研究结果表明:四站拉线编码器初始位置校准方法计算精度高、速度快;测量系统配置灵活、轻便,测量效率高,测量精度能够满足工程的需要。In order to solve the problems of analyzing the dynamic performance of robot,whose structure is complex,without position sensors at its end effector,a simple calibration method of the initial location of the four base stations of cable encoders was proposed,simply operate to the cable-encoders,and the location of four base stations can be calculated by the particle swarm iteration algorithm in this method. The arbitrary layout of the base stations was ensured,so as to the efficiency of the measurement system was improved greatly. The arbitrary movement of the cable encoders to all directions can be obtained by the design of a flexible and lightweight cable guide structure,and the motion of the robot can be tracked,so the position of the end effector of the robot was conveniently obtained without changing the original structure and dynamic characteristics of the robot. The research results show that the initial position calibration method of the four base stations is high precision and fast. Measurement system is flexible,lightweight and high efficiency.

关 键 词：拉线编码器 初始位置校准 坐标变换 

分 类 号：TH702[机械工程—仪器科学与技术] TP24[机械工程—精密仪器及机械]