Full Parameter Error Identification Model and Calibration of Continuous 3R Oblique Axis Non-spherical Wrist
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.
full parameter error identification model oblique axes non-spherical wrist calibration spraying painting
Zhanzhong Wang Chaoying Liu Yanjun Han Wenwu Guo Mingzhu Xu Linzhang Cheng
School of Mechanical Engineering Shijiazhuang Railway Institute Shijiazhuang 050043, China
国际会议
长沙
英文
1009-1013
2009-10-10(万方平台首次上网日期,不代表论文的发表时间)