【摘要】 为了提高并联机器人的定位精度,需对其进行误差检测与补偿.该文提出“三平面测量法”,在并联机器人运动平台上建立3个近似相互垂直的平面,以三坐标测量机为辅助测量工具,获取这3个平面在某一固定坐标系下的平面方程,从而得到机器人实际位姿.建立6-DOF并联机器人误差方程,结合“三平面测量法”辨识出误差参数,实现并联机器人误差检测、标定及补偿.利用一台具有平行导轨的6-DOF精密并联机器人进行了试验验证.结果表明补偿后机器人期望和实际位姿之间的差别与机器人的重复位姿精度达到同一数量级,较补偿前明显改善.更多还原

【Abstract】 Precise calibrations are necessary to satisfy requirements of a parallel robot.To accomplish this,a coordinate measuring machine(CMM) was adopted and a novel measurement method-the three planes method—was studied.The plane equation was measured to gain the position of the parallel robot.The error equations of a six degrees of freedom(DOF) parallel robot were established.Error parameters for the three planes method were obtained in order to implement error measurement and error compensation.The method was verified with a six DOF parallel manipulator with parallel tracks.The results show that after calibration,the error between the nominal and measured poses achieve the same level as the manipulator′s repeatability,which is much improved than without calibration.更多还原