CN106584509B - The origin calibration method of parallel robot - Google Patents
The origin calibration method of parallel robot Download PDFInfo
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- CN106584509B CN106584509B CN201510684617.4A CN201510684617A CN106584509B CN 106584509 B CN106584509 B CN 106584509B CN 201510684617 A CN201510684617 A CN 201510684617A CN 106584509 B CN106584509 B CN 106584509B
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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 present invention relates to the calibration technique fields of industrial robot, specifically disclose a kind of origin calibration method of parallel robot.The origin calibration method of parallel robot of the invention utilizes non-contact space coordinate measuring device, can be accurately obtained position and the origin of parallel robot output shaft, and then can compensate and correct realization to error and accurately control to parallel robot.
Description
Technical field
The present invention relates to the calibration technique fields of industrial robot, and in particular to a kind of origin calibration side of parallel robot
Method.
Background technique
Parallel robot has many advantages, such as that no accumulated error, precision are higher, compact-sized, rigidity is high, large carrying capacity,
It is widely used in the every aspect of the lives such as war industry, biomedicine, movement simulation.Origin is the base of robot coordinate system
Standard can not determine that the robot of origin just has no idea to judge self-position, needless to say accurately control it and move to specific bit
It sets.
In order to accurately control parallel robot and understand the error of parallel robot, need to mark parallel robot
It is fixed.It and is wherein more important one of process to the calibration of parallel robot origin.Existing method is protected by mechanical parts
Demonstrate,prove the positioning of parallel robot origin.However inherently there are manufacturing and positioning errors in mechanical parts, it is difficult to guarantee precision；And it is
Processing and assembly precision are improved, also increases cost.
In consideration of it, overcoming the above defect in the prior art, a kind of origin calibration method of new parallel robot is provided
The technical problem urgently to be resolved as this field.
Summary of the invention
It is an object of the invention in view of the above drawbacks of the prior art, provide a kind of origin calibration side of parallel robot
Method.
The purpose of the present invention can be realized by technical measures below:
A kind of origin calibration method of parallel robot, compared with prior art, the difference is that, this method includes
Following steps:
S1: the measurement target drone of coordinate measuring set is arranged on the pivoted arm being connected with motor output shaft, starts motor
So that measurement target drone is rotated with pivoted arm, measured in rotary course with coordinate of the coordinate measuring set to measurement target drone；
S2: straight line fitting processing is carried out to the target measurement gained coordinate on three pivoted arms respectively, respectively obtains three electricity
The axis of machine output shaft is followed successively by first axle, second axis and third axis；
S3: gained first axle, second axis and third axis are fitted processing, obtain the first plane；
S4: first axle, second axis and third axis are projected in the first plane respectively, in the first plane
To the first projection line, the second projection line and third projection line, the first projection line, the second projection line and third projection line are flat first
Intersect the first triangle for obtaining the first intersection point, the second intersection point and third intersection point and being formed by three intersection points, meter in face two-by-two
Calculate origin of the center as parallel robot of the first triangle.
Preferably, after step s4 further include following steps:
S5: the first side length, the second side length and the third side length of the first triangle are calculated；The center for calculating the first triangle is arrived
The distance of first triangle each edge, respectively first distance, second distance and third distance；
S6: it is calculated by the first side length, the second side length and third side length and first distance, second distance and third distance
The error of the origin.
Preferably, the coordinate measuring set is laser tracker.
The origin calibration method of parallel robot of the invention utilizes non-contact space coordinate measuring device, can be accurate
Position and the origin of parallel robot output shaft are obtained, and then can compensate and correct realization to error to parallel robot
Accurately control.
Detailed description of the invention
Fig. 1 is the application principle figure of the origin calibration method of parallel robot of the invention.
Fig. 2 is the perspective view in the origin calibration method of parallel robot of the invention in first plane.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawing and specific implementation
Invention is further described in detail for example.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention,
It is not intended to limit the present invention.
Refering to Figure 1, the scaling method of the present embodiment utilizes non-contact space for the parallel robot 1 in Fig. 1
Coordinate measuring set 2 carries out origin calibration to it, wherein parallel robot 1 is 3-dof parallel robot, with pedestal
11, motor output shaft 12, pivoted arm 13, connecting rod 14 and end effector 15 can drive pivoted arm 13 by the rotation of motor output shaft 12
And connecting rod 14 rotates, be connected by multiple connecting rods 14 with end effector 15 motion control that can be achieved to end effector；It is non-
Attaching space coordinate measuring set 2 has measuring device 21 and measurement target drone 22, is used to carry out non-contact measurement to spatial point,
In a preferred embodiment, non-contact space coordinate measuring device is laser tracker.
The embodiment of the invention provides a kind of origin calibration methods of parallel robot, are measured using non-contact space coordinate
The origin of parallel robot 1 is marked in device 2, sets on the pivoted arm 13 that parallel robot 1 is connect with motor output shaft 12
Measurement target drone 22 is set, the motor output shaft 12 is rotated, tracks the position of simultaneously measurement target drone 22.
Specifically, which includes the following steps:
S1: the measurement target drone 22 of coordinate measuring set 2 is arranged on the pivoted arm 13 being connected with motor output shaft 12, is opened
Dynamic motor rotates measurement target drone 22 with pivoted arm 13, with coordinate measuring set 2 to measurement target drone 22 in rotary course
Coordinate measures.
S2: straight line fitting processing is carried out to the measurement gained coordinate of target 22 on three pivoted arms 13 respectively, respectively obtains three
The axis of a motor output shaft 12 is followed successively by first axle, second axis and third axis.
S3: gained first axle, second axis and third axis are fitted processing, obtain the first plane.
S4: first axle, second axis and third axis being projected in the first plane respectively, please referred to shown in Fig. 2,
The first projection line, the second projection line and third projection line, the first projection line, the second projection line and third are obtained in the first plane
Intersection obtains the first intersection point A, the second intersection points B and third intersection point C and by three intersection point shapes to projection line two-by-two in the first plane
At the first triangle ABC, calculate origin of the center O as parallel robot of the first triangle ABC.
S5: the first side length AB, the second side length BC and the third side length AC of the first triangle ABC are calculated；Calculate the first triangle
The distance of the triangle ABC each edge of center O to first of shape ABC, respectively first distance OD, second distance OE and third distance
OF。
S6: pass through the first side length AB, the second side length BC and third side length AC and first distance OD, second distance OE and
Three distance OF calculate the error of the origin.
Theoretically, obtained three axis (first axle, second axis and third axis) should in one plane, and
First axle, second axis and third axis should be equilateral triangle in the obtained triangle of the first plane projection, acquired
Triangle center O (parallel robot origin) to three sides of a triangle distance answer it is equal.Measure three sides of a triangle
Side length AB, BC, CA and center O (parallel robot origin) to three sides of a triangle distance OD, OE, OF it is available simultaneously
Join the error of robot motor output shaft axis and origin.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (3)
1. a kind of origin calibration method of parallel robot, which is characterized in that the method is measured using non-contact space coordinate
The origin of parallel robot is marked in device, includes the following steps:
S1: the measurement target drone of coordinate measuring set is arranged on the pivoted arm being connected with motor output shaft, and starting motor makes
Measurement target drone is rotated with pivoted arm, is measured in rotary course with coordinate of the coordinate measuring set to measurement target drone；
S2: straight line fitting processing is carried out to the target measurement gained coordinate on three pivoted arms respectively, it is defeated to respectively obtain three motors
The axis of shaft is followed successively by first axle, second axis and third axis；
S3: gained first axle, second axis and third axis are fitted processing, obtain the first plane；
S4: first axle, second axis and third axis are projected in the first plane respectively, and is obtained in the first plane
One projection line, the second projection line and third projection line, the first projection line, the second projection line and third projection line are in the first plane
Intersect the first triangle for obtaining the first intersection point, the second intersection point and third intersection point and being formed by three intersection points two-by-two, calculating the
Origin of one barycenter oftriangle as parallel robot.
2. the origin calibration method of parallel robot according to claim 1, which is characterized in that also wrap after step s4
Include following steps:
S5: the first side length, the second side length and the third side length of the first triangle are calculated；The first barycenter oftriangle is calculated to first
The distance of triangle each edge, respectively first distance, second distance and third distance；
S6: by described in the first side length, the second side length and third side length and first distance, second distance and third distance calculating
The error of origin.
3. the origin calibration method of parallel robot according to claim 1, which is characterized in that the coordinate measuring set
For laser tracker.
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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 CN106584509A (en) | 2017-04-26 |
| CN106584509B true CN106584509B (en) | 2019-01-25 |
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Families Citing this family (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 |
| CN108393617B (en) * | 2018-02-02 | 2020-01-07 | 山东大学 | Device and method for calibrating welding gun tool points of welding robot |
| CN109434837B (en) * | 2018-12-18 | 2021-04-20 | 南京工程学院 | Initial position calibration device for parallel 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 |
| CN113246146B (en) * | 2021-07-07 | 2021-09-21 | 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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| CN101907893A (en) * | 2010-07-02 | 2010-12-08 | 北京航空航天大学 | Aircraft component attitude adjusting assembly system based on parallel mechanism with six degrees of freedom and debugging method |
| CN103737426A (en) * | 2013-12-24 | 2014-04-23 | 西安交通大学 | Numerical control machine tool rotating shaft geometric error three-wire measurement method |
| 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 |
| CN105136031A (en) * | 2015-08-25 | 2015-12-09 | 华中科技大学 | Five-axis linkage machine tool rotation shaft geometric error continuous measurement method |
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19720883A1 (en) * | 1997-05-17 | 1998-11-19 | Eugen Dr Trapet | Collapsible three=dimensional calibration test body for measuring or positioning instrument |
| CN101419044A (en) * | 2008-09-19 | 2009-04-29 | 合肥工业大学 | Micron-nano grade three-dimensional measurement '331' system and measurement method thereof |
| CN101907893A (en) * | 2010-07-02 | 2010-12-08 | 北京航空航天大学 | Aircraft component attitude adjusting assembly system based on parallel mechanism with six degrees of freedom and debugging method |
| CN103737426A (en) * | 2013-12-24 | 2014-04-23 | 西安交通大学 | Numerical control machine tool rotating shaft geometric error three-wire measurement method |
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| CN105136031A (en) * | 2015-08-25 | 2015-12-09 | 华中科技大学 | Five-axis linkage machine tool rotation shaft geometric error continuous measurement method |
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