工业机器人静态柔顺性测量辅助加载装置研制  

Development of auxiliary loading device for industrial robot static compliance measurement

作　　者：李新[1] 陈力[1] 茅晨 唐迅捷 马涛 张雪梅[1] LI Xin;CHEN Li;MAO Chen;TANG Xunjie;MA Tao;ZHANG Xuemei(Jiangsu Institute of Metrology,Nanjing 210023,China;College of Automation&College of Artificial Intelligence,Nanjing University of Posts and Telecommunications,Nanjing 210023,China)

机构地区：[1]江苏省计量科学研究院,江苏南京210023 [2]南京邮电大学自动化学院、人工智能学院,江苏南京210023

出　　处：《中国测试》2021年第11期107-112,118,共7页China Measurement & Test

基　　金：江苏省市场监督管理局科技项目(KJ185601)。

摘　　要：为解决工业机器人静态柔顺性因缺乏辅助加载装置而难以测量的问题,提出一种基于三维力传感器的结构小巧、操作高效的辅助加载装置。通过校准,选择测量精度合适的三维力传感器以确保所研制装置施加作用力的准确性。对机械接口和减速机构进行创新设计,保证作用力可以被正确、稳定地加载到被测工业机器人的末端,并且利用经典的反馈控制确保装置运行稳定。通过特制的标定台对所研制的装置进行标定,测量结果表明该装置的最大示值误差为0.7%,优于设计时提出的1%的要求。最后,将该装置进行应用,验证了该装置在测量静态柔顺性过程中的有效性。In order to solve the problem that the static compliance of industrial robots was difficult to measure due to the lack of auxiliary loading device,a compact and efficient auxiliary loading device based on threedimensional force sensor was proposed.Through calibration,a three-dimensional force sensor with appropriate measurement accuracy was selected to ensure the accuracy of the applied force of the developed device.The mechanical interface and deceleration mechanism were innovatively designed to ensure that the force could be correctly and stably loaded to the end of the tested industrial robot,and the classical feedback control was used to ensure the stability of the device.The developed device was calibrated by a special calibration platform.The measurement results show that the maximum indication error of the device was 0.7%FS,which was better than 1%FS proposed in the design.Finally,the device was tested,and the experimental result verified the effectiveness of the device in the process of measuring static compliance.

关 键 词：工业机器人 静态柔顺性 测量 辅助加载装置 三维力传感器 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]