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

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

doi:10.3788/OPE.20202801.0119

您当前的位置：

首页 >

文章列表页 >

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：10.3788/OPE.20202801.0119
  CLC： TP212
- Received：21 May 2019，
  
  Accepted：04 June 2019，
  
  Published：15 January 2020
- 稿件说明：
移动端阅览
Yun-dou XU, Chao WANG, Chun-lin ZHAO, et al. Parameter calibration of five-degree-of-freedom hybrid robot 2RPU/UPR+RP[J]. Optics and precision engineering, 2020, 28(1): 119-129.
DOI：

Yun-dou XU, Chao WANG, Chun-lin ZHAO, et al. Parameter calibration of five-degree-of-freedom hybrid robot 2RPU/UPR+RP[J]. Optics and precision engineering, 2020, 28(1): 119-129. DOI： 10.3788/OPE.20202801.0119.

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 was carried out. Firstly

the motion principle of the over-constrained hybrid robot was introduced. Then

the geometric error sources that affect the end precision of the hybrid robot were analyzed

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

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

which were compensated to the kinematics algorithm. The result

indicates that the proposed full calibration and zero calibration method can effectively improve the positioning accuracy of the hybrid robot.

关键词

Keywords

references

CAMPOS A, BUDDE C, HESSELBACH J. A type synthesis method for hybrid robot structures[J]. Mechanism and Machine Theory , 2008, 43(8): 984-995.

HUANG T, LI M, ZHAO X M, et al .. Conceptual design and dimensional synthesis for a 3-DOF module of the TriVariant-a novel 5-DOF reconfigurable hybrid robot[J]. IEEE Transactions on Robotics , 2005, 21(3): 449-456.

HOSSEINI M A, DANIALI H M. Cartesian workspace optimization of Tricept parallel manipulator with machining application[J]. Robotica , 2015, 33(9): 1948-1957.

李林.虚拟轴数控加工中心摆角精度的补偿[J].航空制造技术, 2014, 452(8): 76-78.

LI L. Compensation of swing angle accuracy of virtual axis NC machining center[J]. Aeronautical Manufacturing Technology , 2014, 452(8): 76-78. (in Chinese)

BI Z M, JIN Y. Kinematic modeling of Exechon parallel kinematic machine[J]. Robotics and Computer-Integrated Manufacturing, 2011, 27(1): 186-193.

AMINE S, CARO S, WENGER P. Constraint and singularity analysis of the exechon[J]. Applied Mechanics and Materials , 2012, 162: 141-150.

黎广喜, 刘海涛, 徐青山, 等.铣削加工用混联机器人参数曲线插补方法[J].航空制造技术, 2018, 61(16):43-50.

LI G X, LIU H T, XU Q SH, et al .. Parameter curve interpolation method for hybrid robots for milling[J]. Aeronautical Manufacturing Technology, 2018, 61(16): 43-50. (in Chinese).

李寅翔. 2-UPR-RPU并联机构运动学标定研究[D].杭州: 浙江理工大学, 2016: 9-10.

LI Y X. Research on Kinematic Calibration of 2-UPR-RPU Parallel Mechanism [D]. Hangzhou: Zhejiang Sci-Tech University, 2016: 9-10. (in Chinese).

许允斗, 胡建华, 张东胜, 等.一种所有转轴均连续的五自由度混联机器人机构[J].机械工程学报, 2018, 54(21): 19-24.

XU Y D, HU J H, ZHANG D SH, et al .. A five-degree-of-freedom hybrid robot mechanism with continuous rotation axes[J]. Journal of Mechanical Engineering , 2018, 54(21): 19-24. (in Chinese).

XU Y D, ZHANG D S, YAO J T, et al .. Type synthesis of the 2R1T parallel mechanism with two continuous rotational axes and study on the principle of its motion decoupling[J]. Mechanism and Machine Theory , 2017, 108: 27-40.

NEAGOE M, GOGU G, DIACONESCU D. High Degree Accuracy Modelling and Calibration of Serial Robots with Large Errors [M]. Product Engineering. Dordrecht: Kluwer Academic Publishers, 2004: 397-408.

GATTRINGER H, NEUBAUER M, KASERER D, et al .. A novel method for geometric robot calibration using laser pointer and cameras[C]. International Conference on Robotics in Alpe-Adria Danube Region. Springer, Cham , 2017, 49: 200-207.

KHALIL W, CAENEN J L, ENGUEHARD C. Identification and Calibration of the Geometric Parameters of Robots [M]. Experimental Robotics I. Berlin/Heidelberg: Springer-Verlag, 1990, 13: 528-538.

NUBIOLA A, BONEV I A. Absolute robot calibration with a single telescoping ballbar[J]. Precision Engineering, 2014, 38(3): 472-480.

戴智武, 刘超, 盛鑫军, 等. Delta并联机器人机构参数误差分析及标定方法研究[J].机电一体化, 2016, 22(03): 8-12.

DAI ZH W, LIU CH, SHENG X J, et al .. Research on parameter error analysis and calibration method of Delta parallel robot mechanism [J]. China Mechanical & Electrical Integration, 2016, 22(3): 8-12. (in Chinese).

潘伯钊, 宋轶民, 王攀峰, 等.基于激光跟踪仪的混联机器人快速零点标定方法[J].机械工程学报, 2014, 50(01): 31-37.

PAN B ZH, SONG Y M, WANG P F, et al .. Fast zero calibration method for hybrid robot based on laser tracker[J]. Journal of Mechanical Engineering, 2014, 50(1): 31-37. (in Chinese).

李秦川, 柴馨雪, 陈巧红.两转一移三自由度并联机构研究进展[J].科学通报, 2017, 62(14): 1507-1519.

LI Q CH, CHAI X X, CHEN Q H. Review on 2R1T 3-DOF parallel mechanisms[J]. Chinese Science Bulletin, 2017, 62(14): 1507-1519. (in Chinese)

张东胜, 许允斗, 姚建涛, 等. 2-RPU/UPR并联机构自由度和位置分析[J].机械设计与制造, 2014(12): 53-56.

ZHANG D SH, XU Y D, YAO J T, et al .. Degree of freedom and position analysis of 2-RPU/UPR parallel mechanism[J]. Mechanical Design & Manufacture , 2014(12): 53-56. (in Chinese).

DONGSHENG ZHANG, YUNDOU XU, JIANTAO YAO, et al .. Kinematics modeling of a 5-dof hybrid manipulator by means of equivalent model method[J]. International Journal of Robotics and Automation , 2018, 33(4): 407-417.

吴江杰, 陈伟庆, 辛天飞.激光干涉仪测量数控机床定位精度的方法研究[J].工业控制计算机, 2017, 30(11): 159-160.

WU J J, CHEN W Q, XIN T F. Research on the method of measuring the positioning accuracy of CNC machine tools by laser interferometer[J]. Industrial Control Computer, 2017, 30(11): 159-160. (in Chinese).

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Parameter calibration of five degree of freedom

hybrid robot 2RPU/UPR+RP

Embedded position detection method and error compensation for servo motors

Grating interferometric precision nanometric measurement technology

Parallelism measurement and trajectory planning of multi-channel double crystal monochromator

Error analysis and correction of surface inclination angle of non-coaxial parallel chromatic confocal measurement system

Related Author

&nbsp

XU Yun dou WANG Chao

ZHAO Chun lin

YANG Fan

YAO Jian tao

ZHAO Yong sheng

ZHENG Fangyan

XU Haojie

Related Institution

燕山大学河北省并联机器人与机电系统实验室

燕山大学先进锻压成型技术与科学教育部重点实验室

Engineering Research Center of Mechanical Testing Technology and Equipment， Ministry of Education， Chongqing University of Technology

Shenzhen International Graduate School， Tsinghua University

Tsinghua-Berkeley Shenzhen Institute， Tsinghua University

AI问答

Address：No.3888 Dong Nanhu Road, Changchun, Jilin, China Postal code：130033
Tel：0431-86176855 Email：gxjmgc@ciomp.ac.cn
Technical support is provided by Beijing Founder electronics co., LTD 吉ICP备11002662号-17 京公网安备11010802024621
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰