CN106584509A - Parallel robot original point calibration method - Google Patents
Parallel robot original point calibration method Download PDFInfo
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- CN106584509A CN106584509A CN201510684617.4A CN201510684617A CN106584509A CN 106584509 A CN106584509 A CN 106584509A CN 201510684617 A CN201510684617 A CN 201510684617A CN 106584509 A CN106584509 A CN 106584509A
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- parallel robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0066—Means or methods for maintaining or repairing manipulators
Abstract
The invention relates to the technical field of industrial robot calibration and particularly discloses a parallel robot original point calibration method. According to the parallel robot original point calibration method, the position and the original point of an output shaft of a parallel robot can be obtained accurately by using a non-contact space coordinate measuring device, and then errors can be compensated and corrected, so that the parallel robot is controlled accurately.
Description
Technical field
The present invention relates to the calibration technique field of industrial robot, and in particular to a kind of origin of parallel robot
Scaling method.
Background technology
Parallel robot has, compact conformation, rigidity height, large carrying capacity higher without cumulative error, precision
The advantages of, it is widely used to the every aspect of the lives such as war industry, biomedicine, motion simulation.It is former
Point is the benchmark of robot coordinate system, it is impossible to determine that the robot of origin just has no idea to judge self-position,
Not to mention precise control its move to specified location.
For precise control parallel robot and the error of understanding parallel robot, need to enter parallel robot
Rower is determined.And the demarcation to parallel robot origin is one of wherein more important process.Existing method is
Ensure the positioning of parallel robot origin by mechanical parts.But mechanical parts there is in itself processing and assemble
Error, it is difficult to ensure precision；And in order to improve processing and assembly precision, also increase cost.
In consideration of it, overcoming above defect of the prior art, there is provided a kind of origin mark of new parallel robot
The method of determining becomes this area technical problem urgently to be resolved hurrily.
The content of the invention
Present invention aims to the drawbacks described above of prior art, there is provided a kind of origin of parallel robot
Scaling method.
The purpose of the present invention can be realized by following technical measures：
A kind of origin calibration method of parallel robot, compared with prior art, its difference is to be somebody's turn to do
Method comprises the steps：
S1：The measurement target drone of coordinate measuring set is arranged on the pivoted arm being connected with motor output shaft, is opened
Galvanic electricity machine causes measurement target drone to rotate with pivoted arm, with coordinate measuring set to measurement target drone in rotary course
Coordinate measure；
S2：Respectively fitting a straight line process is carried out to the target measurement gained coordinate on three pivoted arms, respectively obtained
The axis of three motor output shafts, is followed successively by first axle, second axis and the 3rd axis；
S3：Gained first axle, second axis and the 3rd axis are fitted into process, the first plane is obtained；
S4：First axle, second axis and the 3rd axis are projected respectively in the first plane, first
The first projection line, the second projection line and the 3rd projection line, the first projection line, the second projection line are obtained in plane
With the 3rd projection line in the first plane two-by-two intersect obtain the first intersection point, the second intersection point and the 3rd intersection point and
The first triangle formed by three intersection points, calculates the origin of the center as parallel robot of the first triangle.
Preferably, also comprise the steps after step s4：
S5：Calculate first length of side, second length of side and the 3rd length of side of the first triangle；Calculate the first triangle
Center to the first triangle each edge distance, the respectively first distance, second distance and the 3rd distance；
S6：By first length of side, second length of side and the 3rd length of side and the first distance, second distance and the 3rd
Distance calculates the error of the origin.
Preferably, the coordinate measuring set is laser tracker.
The origin calibration method of the parallel robot of the present invention utilizes noncontact space coordinatess measurement apparatus, can be with
Position and the origin of parallel robot output shaft are accurately obtained, and then error can be compensated and be corrected
Realize the accurate control to parallel robot.
Description of the drawings
Fig. 1 is the application principle figure of the origin calibration method of the parallel robot of the present invention.
Fig. 2 be the parallel robot of the present invention origin calibration method in projection in the first plane.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with the accompanying drawings and tool
Body embodiment is described in further detail to the present invention.It should be appreciated that specific embodiment described herein is only
Only to explain the present invention, it is not intended to limit the present invention.
Refer to shown in Fig. 1, the scaling method of the present embodiment is directed to the parallel robot 1 in Fig. 1, using non-
Attaching space coordinate measuring set 2 carries out origin calibration to it, wherein, parallel robot 1 is Three Degree Of Freedom
Parallel robot, it has pedestal 11, motor output shaft 12, pivoted arm 13, connecting rod 14 and end effector
15, by the rotation of motor output shaft 12 pivoted arm 13 and connecting rod 14 can be driven to rotate, by multiple connecting rods 14
Be connected the achievable motor control to end effector with end effector 15；Noncontact space coordinatess measurement dress
Put 2 and there is measurement apparatus 21 and measurement target drone 22, for carrying out non-contact measurement to spatial point, at one
In preferred implementation, noncontact space coordinatess measurement apparatus are laser tracker.
A kind of origin calibration method of parallel robot is embodiments provided, is sat using noncontact space
Mark measurement apparatus 2 are marked to the origin of parallel robot 1, in parallel robot 1 and motor output shaft
Measurement target drone 22 is set on the pivoted arm 13 of 12 connections, the motor output shaft 12 is rotated, target is tracked and measure
The position of mark 22.
Specifically, the origin calibration method comprises the steps：
S1：The measurement target drone 22 of coordinate measuring set 2 is arranged on be connected with motor output shaft 12 turn
On arm 13, start motor and measurement target drone 22 is rotated with pivoted arm 13, surveyed with coordinate in rotary course
Amount device 2 is measured to the coordinate of measurement target drone 22.
S2：Respectively fitting a straight line process is carried out to the measurement gained coordinate of target 22 on three pivoted arms 13, point
The axis of three motor output shafts 12 is not obtained, first axle, second axis and the 3rd axis is followed successively by.
S3：Gained first axle, second axis and the 3rd axis are fitted into process, the first plane is obtained.
S4：First axle, second axis and the 3rd axis are projected respectively in the first plane, is referred to
Shown in Fig. 2, the first projection line, the second projection line and the 3rd projection line are obtained in the first plane, first throws
Hachure, the second projection line and the 3rd projection line in the first plane two-by-two intersect obtain the first intersection point A, second
Intersection points B and the 3rd intersection point C and the first triangle ABC formed by three intersection points, calculate the first triangle
Origins of the center O of ABC as parallel robot.
S5：Calculate first length of side AB, second length of side BC and the 3rd length of side AC of the first triangle ABC；
Calculate the distance of the triangle ABC each edges of center O to first of the first triangle ABC, respectively first
Apart from OD, second distance OE and the 3rd apart from OF.
S6：By first length of side AB, second length of side BC and the 3rd length of side AC and first apart from OD,
Second distance OE and the 3rd calculates the error of the origin apart from OF.
In theory, resulting three articles of axis (first axle, second axis and the 3rd axis) should be at one
In plane, and the triangle of first axle, second axis and the 3rd axis obtained by the first plane projection should
For equilateral triangle, resulting triangle center O (parallel robot origin) is to three sides of a triangle
Distance should be equal.Measure length of side AB, BC, CA and the center O (parallel manipulators of three sides of a triangle
People's origin) can obtain the output of parallel robot motor apart from OD, OE, OF to three sides of a triangle
The error of axle axis and origin.
Presently preferred embodiments of the present invention is the foregoing is only, it is all at this not to limit the present invention
Any modification, equivalent and improvement made within bright spirit and principle etc., should be included in the present invention
Protection domain within.
Claims (3)
1. a kind of origin calibration method of parallel robot, it is characterised in that the method comprises the steps：
S1：The measurement target drone of coordinate measuring set is arranged on the pivoted arm being connected with motor output shaft, is opened
Galvanic electricity machine causes measurement target drone to rotate with pivoted arm, with coordinate measuring set to measurement target drone in rotary course
Coordinate measure；
S2：Respectively fitting a straight line process is carried out to the target measurement gained coordinate on three pivoted arms, respectively obtained
The axis of three motor output shafts, is followed successively by first axle, second axis and the 3rd axis；
S3：Gained first axle, second axis and the 3rd axis are fitted into process, the first plane is obtained；
S4：First axle, second axis and the 3rd axis are projected respectively in the first plane, first
The first projection line, the second projection line and the 3rd projection line, the first projection line, the second projection line are obtained in plane
With the 3rd projection line in the first plane two-by-two intersect obtain the first intersection point, the second intersection point and the 3rd intersection point and
The first triangle formed by three intersection points, calculates the origin of the center as parallel robot of the first triangle.
2. the origin calibration method of parallel robot according to claim 1, it is characterised in that in step
Also comprise the steps after rapid S4：
S5：Calculate first length of side, second length of side and the 3rd length of side of the first triangle；Calculate the first triangle
Center to the first triangle each edge distance, the respectively first distance, second distance and the 3rd distance；
S6：By first length of side, second length of side and the 3rd length of side and the first distance, second distance and the 3rd
Distance calculates the error of the origin.
3. the origin calibration method of parallel robot according to claim 1, it is characterised in that described
Coordinate measuring set is laser tracker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510684617.4A CN106584509B (en) | 2015-10-20 | 2015-10-20 | The origin calibration method of parallel robot |
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| CN201510684617.4A CN106584509B (en) | 2015-10-20 | 2015-10-20 | The origin calibration method of parallel robot |
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| CN106584509A true CN106584509A (en) | 2017-04-26 |
| CN106584509B CN106584509B (en) | 2019-01-25 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107933732A (en) * | 2017-12-12 | 2018-04-20 | 燕山大学 | Rolling robot based on parallel institution |
| CN108393617A (en) * | 2018-02-02 | 2018-08-14 | 山东大学 | A kind of device and method for the calibration of welding robot welding gun tool point |
| CN109434837A (en) * | 2018-12-18 | 2019-03-08 | 南京工程学院 | A kind of parallel robot initial position caliberating device |
| CN110181514A (en) * | 2019-06-06 | 2019-08-30 | 塞伯睿机器人技术（长沙）有限公司 | The robotic arm alignment device of robot |
| CN113246146A (en) * | 2021-07-07 | 2021-08-13 | 深圳若贝特智能机器人科技有限公司 | Method, device and system for error correction of parallel robot |
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| CN104390612A (en) * | 2014-07-08 | 2015-03-04 | 西安电子科技大学 | Standard pose calibration method for six-degree-of-freedom parallel robot used for Stewart platform structure |
| CN104759945A (en) * | 2015-03-25 | 2015-07-08 | 西北工业大学 | Mobile hole-making robot standard alignment method based on high precision industrial camera |
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| DE19720883A1 (en) * | 1997-05-17 | 1998-11-19 | Eugen Dr Trapet | Collapsible three=dimensional calibration test body for measuring or positioning instrument |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107933732A (en) * | 2017-12-12 | 2018-04-20 | 燕山大学 | Rolling robot based on parallel institution |
| CN108393617A (en) * | 2018-02-02 | 2018-08-14 | 山东大学 | A kind of device and method for the calibration of welding robot welding gun tool point |
| CN109434837A (en) * | 2018-12-18 | 2019-03-08 | 南京工程学院 | A kind of parallel robot initial position caliberating device |
| CN110181514A (en) * | 2019-06-06 | 2019-08-30 | 塞伯睿机器人技术（长沙）有限公司 | The robotic arm alignment device of robot |
| CN110181514B (en) * | 2019-06-06 | 2021-12-21 | 塞伯睿机器人技术（长沙）有限公司 | Mechanical arm calibration device of robot |
| CN113246146A (en) * | 2021-07-07 | 2021-08-13 | 深圳若贝特智能机器人科技有限公司 | Method, device and system for error correction of parallel robot |
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| CN106584509B (en) | 2019-01-25 |
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Effective date of registration: 20200116 Address after: 300000 No. 101 and 201, No. 2, Tianbao Industrial Building, No. 18 (4), West 7th Road, Tianjin Free Trade Zone (Airport Economic Zone), Binhai New Area, Tianjin Patentee after: Tianjin Xinsong Robot Automation Co., Ltd Address before: Hunnan New District Jinhui street in Shenyang of Liaoning province 110168 City No. 16 Patentee before: Shenyang Xinsong Robert Automation Co., Ltd. |