CN107186701B - Teaching mechanical arm parameter calibration device and method for three-degree-of-freedom parallel mechanism - Google Patents
Teaching mechanical arm parameter calibration device and method for three-degree-of-freedom parallel mechanism Download PDFInfo
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- CN107186701B CN107186701B CN201710606604.4A CN201710606604A CN107186701B CN 107186701 B CN107186701 B CN 107186701B CN 201710606604 A CN201710606604 A CN 201710606604A CN 107186701 B CN107186701 B CN 107186701B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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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
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The utility model provides a three degree of freedom parallel mechanism's teaching arm parameter calibration device, including the robot, set up three degree of freedom parallel mechanism on the robot, set up the revolving stage on three degree of freedom parallel mechanism, be located the teaching arm of three degree of freedom parallel mechanism top, three degree of freedom parallel mechanism includes supporting component, connect the stiffener, quiet platform, take the seat bearing, rotate the back shaft, the connecting axle, take handle linear bearing, the motion pole, the ball pivot subassembly, be located the movable platform of ball pivot subassembly top, set up in the demarcation back shaft of movable platform top, set up in demarcation back shaft epaxial fixed block, set up the demarcation pole on the fixed block. The invention can realize three degrees of freedom movements of the movable platform, adopts a manual locking mode, does not need complicated electric, liquid and gas control, has compact and light overall structure and convenient disassembly and assembly, combines the advantages of series-parallel connection, and adopts a least square method to calibrate the parameters, thereby effectively improving the teaching calibration efficiency and precision.
Description
Technical Field
The invention relates to the technical field of teaching mechanical arms, in particular to a parameter calibration device and method for a teaching mechanical arm of a three-degree-of-freedom parallel mechanism.
Background
In order to generate a motion of a specific trajectory of a robot, a teaching robot arm is generally used, a teaching person manually teaches the teaching robot arm, the teaching robot arm is made to move according to a desired motion, information such as a position stroke, a joint angle, a height and the like of the teaching robot arm is recorded in a controller, and the recorded data information is converted into a motion program of the robot. Before teaching, the robot and the teaching mechanical arm are calibrated, in particular to parameter calibration of the teaching joint arm, wherein the calibration is an integrated process of modeling, measuring, parameter identification and error compensation, and in order to facilitate identification and calculation, an error model is established on the basis of analyzing an error source, and geometrical parameters with larger contribution to errors are preferentially identified and error separation is carried out.
At present, some laser measuring instruments, such as a laser interferometer and a laser tracker, are mainly adopted for teaching calibration, and the experimental equipment has high price, complex operation and high requirements on the operation environment and is generally suitable for laboratory development and research; under the conditions of poor operation environment and uneven operation level of workers on site, a method adopted by field technicians is to draw a rectangular chart on a cuboid carton by using a teaching mechanical arm, then, the robot carries out teaching reproduction, checks reproduction errors and carries out simple artificial compensation on the errors. The manual teaching calibration method has the defects that the carton deformation is easy to occur in the field operation environment, the subjective operation factor of workers is large, the efficiency is low, and the teaching calibration is needed to be carried out again when the reproduction error is large.
In recent years, many researches and developments have been made on teaching systems at home and abroad in order to improve teaching efficiency and teaching accuracy. At present, dragging teaching robots are applied to production lines, but the use cost is high and the technical threshold is high; meanwhile, the existing teaching calibration method on site has the defects of great influence of subjective factors, unstable calibration precision and the like, so that the efficiency and the precision of teaching calibration are influenced.
Therefore, there is a need to provide a new solution to overcome the above-mentioned drawbacks.
Disclosure of Invention
The invention aims to provide a parameter calibration device for a teaching mechanical arm of a three-degree-of-freedom parallel mechanism, which can effectively solve the technical problems.
In order to achieve the purpose of the invention, the following technical scheme is adopted:
the utility model provides a three degree of freedom parallel mechanism's teaching arm parameter calibration device, its include the brace table, set up in slider on the brace table, set up in robot on the slider, teaching arm, three degree of freedom parallel mechanism's teaching arm parameter calibration device still including set up in three degree of freedom parallel mechanism on the robot, set up in the revolving stage on the three degree of freedom parallel mechanism, three degree of freedom parallel mechanism include supporting component, set up in a plurality of connection reinforcing bars on the supporting component, be located the quiet platform of supporting component top, set up in three take seat bearing on the quiet platform, set up in take rotation back shaft on the seat bearing, set up in rotation back shaft on the connecting axle, set up in take handle linear bearing of back shaft upper end, set up in take the motion pole on the handle linear bearing, be located the ball pivot subassembly of motion pole top, be located the motion platform of ball pivot subassembly top, set up in the support shaft of motion platform top, set up in the calibration support axle on the support axle, set up in on the fixed block.
The lower end of the supporting component is fixedly connected with the rotary table.
The connecting reinforcing rods are three, the lower ends of the connecting reinforcing rods are fixedly connected with the supporting components, the upper ends of the connecting reinforcing rods are fixedly connected with the static platform, and the upper ends of the supporting components are fixedly connected with the static platform.
The static platform is provided with three angles. The three belt seat bearings are fixedly connected with the static platform, and the three belt seat bearings are arranged at three corners of the static platform.
The three rotating support shafts are arranged, and the rotating support shafts are arranged on the support shafts with the seats and are in pivot connection with the support shafts with the seats.
The connecting shaft is provided with three connecting shafts, the connecting shafts are arranged on the rotating support shaft and are fixedly connected with the rotating support shaft, the upper ends of the connecting shafts are fixedly connected with the linear bearings with handles, the linear bearings with handles are provided with three connecting shafts, the linear bearings with handles are fixedly connected with the moving rods, the moving rods are provided with three connecting shafts, and the upper ends of the moving rods are connected with the spherical hinge assemblies.
The three spherical hinge assemblies are arranged, the spherical hinge assemblies are fixedly connected with the movable platform, the movable platform is a cylinder, the lower end of the calibration support shaft is fixedly connected with the movable platform, the upper end of the calibration support shaft is fixedly connected with the fixed block, the fixed block is provided with a calibration groove, the calibration rod is pivotally connected with the fixed block, the tail end of the mechanical arm of the robot is fixedly connected with the calibration rod, and the tail end of the teaching mechanical arm is contained in the calibration groove and is pivotally connected with the fixed block.
The teaching mechanical arm parameter calibration method of the three-degree-of-freedom parallel mechanism comprises the following steps:
step one: driving the robot within the working space range of the three-degree-of-freedom parallel mechanism to enable the tail end of the robot to guide the three-degree-of-freedom parallel mechanism to move;
step two: the method comprises the steps that a certain space pose is obtained after the three-degree-of-freedom parallel mechanism moves, at the moment, a linear bearing with a handle is locked, and the movement of a moving rod is limited, so that the pose of the three-degree-of-freedom parallel mechanism is fixed, at the moment, an angle sensor can record angle data of a joint of a robot, at the moment, a teaching mechanical arm is matched with the three-degree-of-freedom parallel mechanism, the pose of a movable platform is adjusted, and the operations are repeated to obtain a plurality of groups of joint angle data of the robot and the teaching mechanical arm;
step three: and carrying out parameter calibration on the teaching mechanical arm by adopting a least square method according to the space pose data and the joint angle data, realizing error compensation of the tail end pose, generating a motion instruction, and sending the motion instruction to the robot so that the robot can finish the work corresponding to the teaching mechanical arm.
Compared with the prior art, the invention has the following beneficial effects: the teaching mechanical arm parameter calibration device of the three-degree-of-freedom parallel mechanism can realize three-degree-of-freedom motion of the movable platform, adopts a manual locking mode, does not need complicated electric, liquid and gas control, has compact and light overall structure and convenient disassembly and assembly, and simultaneously adopts a least square method to calibrate parameters of the teaching mechanical arm parameter calibration device, thereby effectively improving teaching calibration efficiency and precision.
Drawings
FIG. 1 is a schematic diagram of a three degree of freedom parallel mechanism teaching mechanical arm parameter calibration device according to the present invention
Fig. 2 is a schematic structural diagram of the three-degree-of-freedom parallel mechanism of the teaching mechanical arm parameter calibration device of the three-degree-of-freedom parallel mechanism of the invention shown in fig. 1.
Detailed Description
The parameter calibration device of the teaching mechanical arm of the three-degree-of-freedom parallel mechanism is clearly and completely described below with reference to the accompanying drawings.
As shown in fig. 1 and 2, the teaching mechanical arm parameter calibration device of the three-degree-of-freedom parallel mechanism of the present invention includes a support table, a slide block 5 arranged on the support table, a robot 3 arranged on the slide block 5, a three-degree-of-freedom parallel mechanism 1 arranged on the robot, a turntable 2 arranged on the three-degree-of-freedom parallel mechanism 1, and a teaching mechanical arm 4 arranged on the slide block 5.
As shown in fig. 1 and 2, the slider 5 is disposed on the supporting table and can slide back and forth on the supporting table. The robot 3 is a common robot in the market, a mechanical arm is arranged on the robot 3, and an angle sensor is arranged at a joint of the mechanical arm so as to monitor the angle of the joint of the mechanical arm in real time, and the robot 3 is arranged on the sliding block 5. One end of the teaching mechanical arm 4 is disposed on the sliding block 5, and the teaching mechanical arm 4 is a common teaching mechanical arm in the market, so that details are omitted herein, and an angle sensor is disposed at a joint of the teaching mechanical arm 4 so as to monitor angle change at the joint.
As shown in fig. 1, the three-degree-of-freedom parallel mechanism 1 includes a support assembly 1.1, a plurality of connection reinforcing rods 1.2 arranged on the support assembly 1.1, a static platform 1.3 positioned above the support assembly 1.1, three seated bearings 1.4 arranged on the static platform 1.3, a rotating support shaft 1.5 arranged on the seated bearings 1.4, a connecting shaft 1.6 arranged on the rotating support shaft 1.5, a linear bearing 1.7 with a handle arranged at the upper end of the support shaft 1.6, a moving rod 1.8 arranged on the linear bearing 1.7 with a handle, a spherical hinge assembly 1.9 positioned above the moving rod 1.8, a moving platform 1.10 positioned above the spherical hinge assembly 1.9, a calibrating support shaft 1.11 arranged above the moving platform 1.10, a fixed block arranged on the calibrating support shaft 1.11, and a calibrating rod 1.13 arranged on the fixed block. The lower end of the supporting component 1.1 is fixedly connected with the turntable 2, and the supporting component 1.1 and the turntable 2 can be mutually fixed through screws. The three connecting reinforcing rods 1.2 are arranged, the lower ends of the connecting reinforcing rods 1.2 are fixedly connected with the supporting components 1.1, the upper ends of the connecting reinforcing rods 1.2 are fixedly connected with the static platform 1.3, and the upper ends of the supporting components 1.1 are fixedly connected with the static platform 1.3. The static platform 1.3 is provided with three corners. The three bearings with seats 1.4 are arranged, the bearings with seats 1.4 are fixedly connected with the static platform 1.3, and the bearings with seats 1.4 are arranged at three corners of the static platform 1.3. The three rotation support shafts 1.5 are arranged, and the rotation support shafts 1.5 are arranged on the belt seat support shafts 1.4 and are in pivot connection with the belt seat support shafts, so that the rotation support shafts 1.5 can rotate on the belt seat bearings 1.4. The three connecting shafts 1.6 are arranged, the connecting shafts 1.6 are arranged on the rotating support shaft 1.5 and are fixedly connected with the rotating support shaft, and the upper end of the connecting shaft 1.6 is fixedly connected with the linear bearing 1.7 with the handle. The three linear bearings 1.7 with handles are arranged, the linear bearings 1.7 with handles are fixedly connected with the moving rod 1.8, and the connecting shaft 1.6 and the moving rod 1.8 can rotate relatively due to the fact that the linear bearings 1.7 with handles are connected with the connecting shaft 1.6 and the moving rod 1.8. The number of the moving rods 1.8 is three, and the upper end of the moving rod 1.8 is connected with the spherical hinge assembly 1.9, so that the spherical hinge assembly 1.9 and the moving rod 1.8 can rotate relatively. The three spherical hinge assemblies 1.9 are arranged, and the spherical hinge assemblies 1.9 are fixedly connected with the movable platform 1.10. The movable platform 1.10 is a cylinder. The lower end of the calibration support shaft 1.11 is fixedly connected with the movable platform 1.10, and the upper end of the calibration support shaft 1.11 is fixedly connected with the fixed block. The fixed block is provided with a calibration groove 1.12. The calibration lever 1.13 is pivotally connected to the fixed block such that the calibration lever 1.13 can rotate on the fixed block. The tail end of the mechanical arm of the robot 3 is fixedly connected with the calibration rod 1.13, and the tail end of the teaching mechanical arm 4 is contained in the calibration groove 1.12 and is in pivot connection with the fixed block, so that the fixed block can rotate at the tail end of the teaching mechanical arm 4.
As shown in FIG. 1, the teaching mechanical arm parameter calibration method of the three-degree-of-freedom parallel mechanism comprises the following steps:
step one: driving the robot 3 within the working space range of the three-degree-of-freedom parallel mechanism 1 to enable the tail end of the robot to guide the three-degree-of-freedom parallel mechanism 1 to move;
step two: a certain space pose is obtained after the three-degree-of-freedom parallel mechanism 1 moves, at the moment, the linear bearing 1.7 with the handle is locked, and the movement of the moving rod 1.8 is limited, so that the pose of the three-degree-of-freedom parallel mechanism 1 is fixed, at the moment, an angle sensor can record angle data of a robot joint, at the moment, the teaching mechanical arm 4 is matched with the three-degree-of-freedom parallel mechanism 1, the pose of the movable platform 1.10 is adjusted, and the operations are repeated to obtain a plurality of groups of robot joint angle data and teaching mechanical arm joint angle data;
step three: and carrying out parameter calibration on the teaching mechanical arm by adopting a least square method according to the space pose data and the joint angle data, realizing error compensation of the tail end pose, generating a motion instruction, and sending the motion instruction to the robot so that the robot can finish the work corresponding to the teaching mechanical arm.
Claims (6)
1. The utility model provides a three degree of freedom parallel mechanism's teaching arm parameter calibration device, its include the brace table, set up in slider on the brace table, set up in robot, teaching arm on the slider, its characterized in that: the teaching mechanical arm parameter calibration device of the three-degree-of-freedom parallel mechanism further comprises a three-degree-of-freedom parallel mechanism arranged on the robot and a rotary table arranged on the three-degree-of-freedom parallel mechanism, wherein the three-degree-of-freedom parallel mechanism comprises a support component, a plurality of connecting reinforcing rods arranged on the support component, a static platform arranged above the support component, three seated bearings arranged on the static platform, a rotating support shaft arranged on the seated bearings, a connecting shaft arranged on the rotating support shaft, a linear bearing with a handle arranged at the upper end of the support shaft, a moving rod arranged on the linear bearing with the handle, a spherical hinge component arranged above the moving rod, a moving platform arranged above the spherical hinge component, a calibration support shaft arranged above the moving platform, a fixed block arranged on the calibration support shaft and a calibration rod arranged on the fixed block;
the lower end of the supporting component is fixedly connected with the turntable;
the teaching mechanical arm parameter calibration method for the three-degree-of-freedom parallel mechanism by using the teaching mechanical arm parameter calibration device for the three-degree-of-freedom parallel mechanism comprises the following steps: step one: driving the robot within the working space range of the three-degree-of-freedom parallel mechanism to enable the tail end of the robot to guide the three-degree-of-freedom parallel mechanism to move;
step two: the method comprises the steps that a certain space pose is obtained after the three-degree-of-freedom parallel mechanism moves, at the moment, a linear bearing with a handle is locked, and the movement of a moving rod is limited, so that the pose of the three-degree-of-freedom parallel mechanism is fixed, at the moment, an angle sensor can record angle data of a joint of a robot, at the moment, a teaching mechanical arm is matched with the three-degree-of-freedom parallel mechanism, the pose of a movable platform is adjusted, and the operations are repeated to obtain a plurality of groups of joint angle data of the robot and the teaching mechanical arm;
step three: and carrying out parameter calibration on the teaching mechanical arm by adopting a least square method according to the space pose data and the joint angle data, realizing error compensation of the tail end pose, generating a motion instruction, and sending the motion instruction to the robot so that the robot can finish the work corresponding to the teaching mechanical arm.
2. The teaching mechanical arm parameter calibration device of the three-degree-of-freedom parallel mechanism according to claim 1, wherein: the connecting reinforcing rods are three, the lower ends of the connecting reinforcing rods are fixedly connected with the supporting components, the upper ends of the connecting reinforcing rods are fixedly connected with the static platform, and the upper ends of the supporting components are fixedly connected with the static platform.
3. The teaching mechanical arm parameter calibration device of the three-degree-of-freedom parallel mechanism according to claim 2, wherein: the static platform is provided with three corners, the number of the belt seat bearings is three, the belt seat bearings are fixedly connected with the static platform, and the belt seat bearings are arranged at the three corners of the static platform.
4. The teaching mechanical arm parameter calibration device of the three-degree-of-freedom parallel mechanism according to claim 3, wherein: the three rotating support shafts are arranged, and the rotating support shafts are arranged on the bearing with the seat and are in pivot connection with the bearing with the seat.
5. The teaching mechanical arm parameter calibration device of the three-degree-of-freedom parallel mechanism of claim 4, wherein: the connecting shaft is provided with three connecting shafts, the connecting shafts are arranged on the rotating support shaft and are fixedly connected with the rotating support shaft, the upper ends of the connecting shafts are fixedly connected with the linear bearings with handles, the linear bearings with handles are provided with three connecting shafts, the linear bearings with handles are fixedly connected with the moving rods, the moving rods are provided with three connecting shafts, and the upper ends of the moving rods are connected with the spherical hinge assemblies.
6. The teaching mechanical arm parameter calibration device of the three-degree-of-freedom parallel mechanism of claim 5, wherein the teaching mechanical arm parameter calibration device is characterized in that: the three spherical hinge assemblies are arranged, the spherical hinge assemblies are fixedly connected with the movable platform, the movable platform is a cylinder, the lower end of the calibration support shaft is fixedly connected with the movable platform, the upper end of the calibration support shaft is fixedly connected with the fixed block, the fixed block is provided with a calibration groove, the calibration rod is pivotally connected with the fixed block, the tail end of the mechanical arm of the robot is fixedly connected with the calibration rod, and the tail end of the teaching mechanical arm is contained in the calibration groove and is pivotally connected with the fixed block.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710606604.4A CN107186701B (en) | 2017-07-24 | 2017-07-24 | Teaching mechanical arm parameter calibration device and method for three-degree-of-freedom parallel mechanism |
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| CN201710606604.4A CN107186701B (en) | 2017-07-24 | 2017-07-24 | Teaching mechanical arm parameter calibration device and method for three-degree-of-freedom parallel mechanism |
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| CN107186701B true CN107186701B (en) | 2023-07-14 |
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| CN108748162B (en) * | 2018-07-09 | 2021-05-25 | 五邑大学 | Mechanical arm control method based on least square method for robot experiment teaching |
| CN108890649A (en) * | 2018-08-27 | 2018-11-27 | 佛山科学技术学院 | A kind of teaching mechanical arm parameter calibration device and method of six-degree-of-freedom parallel connection mechanism |
| CN112936341B (en) * | 2021-02-01 | 2022-05-20 | 威海威高骨科手术机器人有限公司 | Reset platform assembly process and calibration method |
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| US7938602B2 (en) * | 2006-03-31 | 2011-05-10 | Jtekt Corporation | Three degree of freedom parallel mechanism, multi-axis control machine tool using the mechanism and control method for the mechanism |
| CN101244558A (en) * | 2008-03-28 | 2008-08-20 | 天津大学 | Space three-rotation freedom parallel mechanism |
| CN105945909A (en) * | 2016-05-13 | 2016-09-21 | 大族激光科技产业集团股份有限公司 | Error correction method and system for three-degree-of-freedom parallel robot |
| CN207014358U (en) * | 2017-07-24 | 2018-02-16 | 佛山科学技术学院 | A kind of teaching mechanical arm parameter calibration device of 3-freedom parallel mechanism |
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