Full Parameter Error Identification Model and Calibration of Continuous 3R Oblique Axis Non-spherical Wrist

摘要：

Based on the structure characteristics and operating principle of the continuous 3R oblique axis nonspherical wrist,a full parameter error identification model of this wrist was setup, and calibration experiment on this wrist were accomplished with a Xi type 3D laser tracking instrument made by FARO Company in American.After calibrating and compensating,the single axle positioning accuracy of the continuous 3R oblique axes non-spherical wrist could be less than 0.09 mm and the spatial positioning accuracy, less than 0.104 mm. So the continuous 3R oblique axes nonspherical wrist could meet the action-accuracy challenge of spray painting robot.

关键词： full parameter error identification model oblique axes non-spherical wrist calibration spraying painting

作者: Zhanzhong Wang Chaoying Liu Yanjun Han Wenwu Guo Mingzhu Xu Linzhang Cheng

作者单位: School of Mechanical Engineering Shijiazhuang Railway Institute Shijiazhuang 050043, China

会议类型: 国际会议

会议名称: 2009 Second International Conference on Intelligent Computation Technology and Automation(2009 第二届IEEE智能计算与自动化国际会议 ICICTA 2009)

会议地点: 长沙

会议语种:英文

页码: 1009-1013

在线出版日期: 2009-10-10（万方平台首次上网日期，不代表论文的发表时间）