<div>Parameter calibration of five degree of freedom&nbsp;</div>
<div>hybrid robot 2RPU/UPR+RP</div>

XU Yun dou WANG Chao; ZHAO Chun lin; YANG Fan; YAO Jian tao; ZHAO Yong sheng

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Parameter calibration of five degree of freedom

hybrid robot 2RPU/UPR+RP

Micro Nano Technology and Fine Mechanics | 更新时间：2020-08-13

- Parameter calibration of five degree of freedom
  
  hybrid robot 2RPU/UPR+RP
- Optics and Precision Engineering Vol. 28, Issue 1, Pages: 119-129(2020)
- 作者机构：
  
  1. 燕山大学河北省并联机器人与机电系统实验室,河北秦皇岛,066004
  2. 燕山大学先进锻压成型技术与科学教育部重点实验室,河北秦皇岛,066004
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP212
- Received：21 May 2019，
  
  Revised：04 June 2019，
  
  Published Online：15 January 2020，
  
  Published：15 January 2020
- 稿件说明：
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许允斗王超赵春霖杨帆姚建涛赵永生,. <div>2RPU/UPR+RP五自由度混联机器人参数标定研究</div>[J]. 光学精密工程, 2020,28(1): 119-129

XU Yun dou WANG Chao ZHAO Chun lin YANG Fan YAO Jian tao ZHAO Yong sheng ,. <div>Parameter calibration of five degree of freedom </div>,<div>hybrid robot 2RPU/UPR+RP</div>[J]. Editorial Office of Optics and Precision Engineering, 2020,28(1): 119-129
许允斗王超赵春霖杨帆姚建涛赵永生,. <div>2RPU/UPR+RP五自由度混联机器人参数标定研究</div>[J]. 光学精密工程, 2020,28(1): 119-129 DOI：

XU Yun dou WANG Chao ZHAO Chun lin YANG Fan YAO Jian tao ZHAO Yong sheng ,. <div>Parameter calibration of five degree of freedom </div>,<div>hybrid robot 2RPU/UPR+RP</div>[J]. Editorial Office of Optics and Precision Engineering, 2020,28(1): 119-129 DOI：

摘要

为了提高2RPU/UPR+RP过约束混联机器人在实际运用中的精度，达到生产实践的需求，对该机器人进行误差补偿研究。首先介绍了过约束混联机器人的运动原理，随后分析影响混联机器人末端精度的各项几何误差的来源，并对提高混联机器人精度的零点标定与全标定方法进行介绍。将混联机器人分为并联机构和单摆头两部分，分别对两部分进行零点标定和全标定理论研究，然后基于激光跟踪仪搭建了标定实验系统，得到了标定后的误差参数的真实值，补偿到运动学算法中。实验结果表明，本文提出的全标定和零点标定方法可以有效提高混联机器人的定位精度。

Abstract

In order to improve the accuracy of the 2RPU/UPR+RP over-constrained hybrid robot in practical application and meet the requirements of production practice

the error compensation research of the robot is carried out. Firstly

the motion principle of the over-constrained hybrid robot is introduced. Then the geometric error sources that affect the end precision of the hybrid robot are analyzed

and the zero calibration and full calibration method for improving the accuracy of the hybrid robot are introduced. The hybrid robot is divided into two parts: the parallel mechanism and the swing head with single-degree-of-freedom. Theoretical research on zero calibration and full calibration are conducted on these two parts respectively. Then the calibration experiment system is built up based on the laser tracker

and true values of error parameters are obtained by using genetic algorithm after calibration

which are compensated to the kinematics algorithm. As a result

the positioning accuracy of the robot is greatly improved

which indicates that the proposed full calibration and zero calibration method based on genetic algorithm can effectively improve the positioning accuracy of the hybrid robot.

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Related Institution

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Parameter calibration of five degree of freedom hybrid robot 2RPU/UPR+RP

DOI：

摘要

Abstract

关键词

Keywords

references

Parameter calibration of five degree of freedom

hybrid robot 2RPU/UPR+RP