2RPU/UPR+RP五自由度混联机器人参数标定研究

许允斗; 王超; 赵春霖; 杨帆; 姚建涛; 赵永生

doi:10.3788/OPE.20202801.0119

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2RPU/UPR+RP五自由度混联机器人参数标定研究

微纳技术与精密机械 | 更新时间：2020-08-13

- 2RPU/UPR+RP五自由度混联机器人参数标定研究
- Parameter calibration of five-degree-of-freedom hybrid robot 2RPU/UPR+RP
- 光学精密工程 2020年28卷第1期页码：119-129
- 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：
  
  [ "许允斗(1985-)，男，浙江温州人，博士，副教授，分别于2007年和2012年在燕山大学获得学士和博士学位，主要从事并联机构学理论及其应用技术研究。E-mail:ydxu@ysu.edu.cn" ]
  [ "赵永生(1962-)，男，吉林龙井人，教授，博士生导师，分别于1983年、1987年、1999年分别在东北重型机械学院、燕山大学获得学士、硕士、博士学位，主要研究方向为机构学理论及其应用技术。E-mail:yszhao@ysu.edu.cn" ]
- 基金信息：
  
  国家重点研发计划资助项目(2017YFB1301901);国家自然科学基金资助项目(51875495);国家自然科学基金资助项目(51405425)
- DOI：10.3788/OPE.20202801.0119
  中图分类号： TP212
- 收稿日期：2019-05-21，
  
  录用日期：2019-6-4，
  
  纸质出版日期：2020-01-15
- 稿件说明：
移动端阅览
许允斗, 王超, 赵春霖, 等. 2RPU/UPR+RP五自由度混联机器人参数标定研究[J]. 光学精密工程, 2020,28(1):119-129.

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.
许允斗, 王超, 赵春霖, 等. 2RPU/UPR+RP五自由度混联机器人参数标定研究[J]. 光学精密工程, 2020,28(1):119-129. DOI： 10.3788/OPE.20202801.0119.

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

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