基于球杆仪的三自由度串联机械臂运动学标定方法研究  

RESEARCH ON KINEMATIC CALIBRATION METHOD OF THREE DEGREE OF FREEDOM SERIES MANIPULATOR BASED ON BALLBAR

作　　者：车亚肖 杨新刚[1] 高峰[1] 黄玉美[1] 韩文涛 高恒[1] 

机构地区：[1]西安理工大学机械与精密仪器工程学院,西安710048

出　　处：《机械强度》2017年第6期1315-1319,共5页Journal of Mechanical Strength

基　　金：陕西省教育厅科研计划项目(11JS073;12JK0684)资助~~

摘　　要：考虑所标定机械臂的几何结构特点,采用修正五参数法描述参数误差并建立机械臂末端位置误差模型;在机械臂零位标定基础上,采用单球杆一次安装测得标定所需数据;基于机械臂和球杆仪所组成闭链的几何约束条件和末端位置误差模型建立参数误差辨识模型,并用非线性最小二乘迭代法求得几何参数误差。完成了标定实验,并采用综合误差补偿法进行了机械臂误差补偿。在给定的两条测试轨迹上,球杆长度变化差分别由标定前的0.395 mm、0.456 mm减小到标定后的0.005 mm、0.010 mm。研究表明:该标定方法有效正确,提高了机械臂的位置精度。Considering geometry structure characteristics of the manipulator being calibrated and using modified 5-parameter method to describe its geometric patameter errors,an end position error model of the manipulator is proposed. After the zero position calibration of the manipulator,measurement data used in calibration process is obtained by one time ballbar installation.An error identification model is built based on the geometric constraints of closed kinematic chain—composed of the manipulator and ballbar as well as the end position error model,then the manipulator geometric parameters errors are calculated using nonlinear least square iterative method. A calibration experiment is completed,and the errors of the manipulator are compensated by integrated error compensation method. Along two given test end point paths,the ballbar length variation decreased from0. 395 mm,0. 456 mm to 0. 005 mm,0. 010 mm respectively before and after calibration. The research shows that the calibration method is effective and correct,and the position accuracy of the manipulator is improved.

关 键 词：机械臂 球杆仪 参数误差 标定 

分 类 号：TH39[机械工程—机械制造及自动化]