3-R2U2S并联机器人的机构参数标定法探究  

Research of Kinematic Parameter Calibration Method of 3-R2U2S Parallel Robot

作　　者：王远东[1] 高洁 Wang Yuandong;Gao Jie(School of Architecture and Rail Transit,Xi′an Vocational and Technical College,Xi′an 710077,China;Shaanxi Provincial Library,Xi′an 710061,China)

机构地区：[1]西安职业技术学院建筑与轨道交通学院,陕西西安710077 [2]陕西省图书馆,陕西西安710061

出　　处：《机械传动》2020年第5期121-125,共5页Journal of Mechanical Transmission

摘　　要：分析了并联机器人机构参数标定的一般方法,针对3-R2U2S并联机器人的特征,基于自动协作原理提出了一种新的参数标定法。其原理是把所有引起加工位置误差的影响因素均归结为机器人机构参数的变化,求出包含各种误差源的综合修正杆长影响因子,获得较为精准的机器人运动学反解方程。为校核可靠性,搭建3-R2U2S并联机器人样机标定实验中心,在机器人工作空间内,随机选取50个点进行测试,将其坐标代入修正的运动学反解方程中,求出各支链驱动转角的理论输入值。实验结果表明,理论输入值与实际输入值的偏差控制在允许范围内,验证了运用自动协作法求解修正杆长来建立3-R2U2S并联机器人运动学反解方程的准确性和可靠性。The general methods of parameter calibration of parallel robot mechanism are analyzed,and a new parameter calibration method based on automatic cooperation principle for 3-R2U2S parallel robot is pro posed.The principle is that all the influencing factors of positioning error are attributed to the change of robot mechanism parameters,and the comprehensive correction rod length influence factor including various error sources is obtained,then the more accurate kinematics inverse equation is finally obtained.In order to check the reliability of the method,the calibration experiment center of 3-R2U2S parallel robot prototype is built.In the workspace,50 points are randomly selected for testing,and their coordinates are replaced into the modified inverse kinematic solution equation,and the theoretical input value of the driving angle of each branch chain is obtained.The test result shows that the deviation between the theoretical input value and the actual input value is controlled within the allowable range,which verifies the accuracy and reliability of using the automatic coop eration method to solve the modified rod length to establish the kinematic inverse solution equation of 3-R2U2S parallel robot.

关 键 词：并联机器人 运动学反解 参数标定 精度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]