A Novel Method on Parallel Robots Pose Measuring and Calibration
Compared with serial robots, because of some advantages, e.g. higher stiffness, errors will not accumulated etc., parallel robot has much potential use on micro electromechanical systems. Although the robot is manufactured and assembled carefully, there are still some tiny errors between the nominal and actual values of parameters, which influence the systems final performance obviously. To satisfy precision requirements of micro electromechanical systems, its necessary to do the calibration. Comparing strength and weakness of often-used equipments, coordinate measure machine (CMM) is adopted and a novel measure method-three planes method is proposed. The plane equation will be measured instead of the position of points to realize the CMMs strength and avoid errors made by human. This method is verified with a 6 DOFs parallel robot with parallel tracks. The results show that after calibration the error between the nominal and measured poses achieve the same level with the robots repeatability, which is much improved than without calibration.
Parallel robot Robot calibration Three planes method Coordinate measure machine (CMM)
Lingtao YU Jian WANG Zhijiang DU Lining SUN Hegao CAI
Harbin Institute of Technology, China
国际会议
2nd IEEE Conference on Industrial Electronics and Applications(ICIEA 2007)(第二届IEEE工业电子与应用国际会议)
哈尔滨
英文
2007-05-23（万方平台首次上网日期，不代表论文的发表时间）