| 蒋欣怡,乔贵方,聂新港,高春晖,田荣佳.基于拉线传感器的位姿测量及精度补偿方法研究[J].电子测量与仪器学报,2025,39(5):59-66 |
| 基于拉线传感器的位姿测量及精度补偿方法研究 |
| Research on the pose measurement and accuracy compensationmethod based on draw-wire sensors |
| |
| DOI： |
| 中文关键词: 拉线传感器 并联机器人 运动学模型 姿态测量 精度补偿 |
| 英文关键词:draw-wire sensors parallel robots kinematic model posture measurement accuracy compensation |
| 基金项目:国家自然科学基金（51905258）、中国博士后科学基金（2019M650095）、江苏省青蓝工程项目、江苏省研究生科研与实践创新计划（SJCX23_1164）项目资助 |
|
|
| Author | Institution |
| Jiang Xinyi | School of Automation, Nanjing Institute of Technology, Nanjing 211167,China |
| Qiao Guifang | 1.School of Automation, Nanjing Institute of Technology, Nanjing 211167,China; 2.School of Instrument
Science and Engineering, Southeast University, Nanjing 210096，China |
| Nie Xingang | School of Automation, Nanjing Institute of Technology, Nanjing 211167,China |
| Gao Chunhui | School of Automation, Nanjing Institute of Technology, Nanjing 211167,China |
| Tian Rongjia | Engineering and Innovation Training
Center, Nanjing Tech University Pujiang Institute, Nanjing 211134,China |
|
| 摘要点击次数: 1146 |
| 全文下载次数: 786 |
| 中文摘要: |
| 工业机器人的精度性能较大程度地影响其在各领域中的应用。为实现并联机器人的位姿测量和参数标定，设计了基于拉线传感器的位姿测量系统，并针对该系统研究了位姿测量精度的补偿方法，从而满足性能要求。首先，根据位姿测量系统的机械结构建立其运动学模型；其次，分析位姿测量系统的传感器误差和结构参数误差，并通过误差拟合将拉线传感器的测量误差降低到0.1 mm以下；最后，通过实验验证该位姿测量系统的位姿测量精度和标定效果。实验结果表明，经过激光跟踪仪标定后的位姿测量系统的平均位置精度和平均姿态精度分别达到0.216 mm和0.055°。利用该位姿测量系统对六自由度Stewart并联机器人进行标定，标定后的六自由度Stewart并联机器人平均位姿误差从(2.706 mm，1.067°)降低到(0.778 mm，0.493°)。因此，所设计的基于拉线传感器的位姿测量系统能够精确测量机器人位置和姿态，并且能够满足并联机器人运动学参数标定的要求。 |
| 英文摘要: |
| The accuracy performance of industrial robots largely affects their applications in various fields. To realize the pose measurement and parameter calibration of parallel robots, a pose measurement system based on draw-wire sensors is designed. In order to meet the accuracy performance requirements, the pose measurement accuracy compensation method based on this system is proposed. Firstly, the kinematic model of the pose measurement system is established according to its mechanical structure. Secondly, the draw wire sensors error and structural parameter error of the pose measurement system are analyzed. The measurement error of the draw-wire sensor is reduced to less than 0.1mm by error fitting. Finally, the measurement accuracy and calibration effect of the posture measurement system are verified through experiments. The experimental results show that the average positioning error and attitude error of the posture measurement system after calibration are 0.216 mm and 0.055°, respectively. The proposed posture measurement system is applied to calibrate the 6 DOF Stewart parallel robot. The average pose error of the calibrated 6 DOF Stewart parallel robot is reduced from (2.706 mm, 1.067°) to (0.778 mm, 0.493°). Therefore, the proposed posture measurement system based on draw-wire sensors can satisfy the requirements of pose measurement and kinematic parameter calibration for parallel robots. |
| 查看全文 查看/发表评论 下载PDF阅读器 |
|
|
|
