摘要
在机器人加工中,采用理论几何模型控制机器人的运动,其与作业机器人的几何模型并不一致,导致加工误差的形成.为此,研究了工业机人零位误差对回转加工的影响.利用基于激光跟踪仪的轴旋转法求取关节的旋转中心和旋转轴向;借助最小二乘法对数据进行圆拟合,为了提高轴线测量精度,在同一轴上拟合得到两个圆,以其圆心的连线作为旋转轴的轴线;过第一和第四轴轴线作一平面,利用轴线与该平面的交点或者平面上的轴线,确定作业机器人的连杆参数,由相应连杆参数计算作业机器人每轴的零位角.通过旋转加工直径为80 mm的圆柱,验证了该方法的有效性.实验结果表明:未校正零位误差时,作业机器人加工的圆柱最大误差为2.42 mm;而校正零位后,作业机器人加工的圆柱最大误差减小到0.16 mm.为机器人本体几何参数与零位的解耦标定建立了基础,进一步提高了机器人加工精度.
In the robot machining,the theoretical geometric model is used to control the motion of the robot,and is inconsistent with the geometric model of the working robot,which leads to the formation of machining error.In this paper we study the influence of the zero error of the working robot on the machining accuracy of the rotating machining.The spin center and rotation axis of joint were obtained by the axis rotation method based on the laser tracker.Data are fitted with a circle using the least square method.In order to improve the accuracy of the axis measurement,two circles are fitted on the same axis,and the line connecting the centers of the circles is used as the axis of the rotation axis.The first and fourth axis axes are made into a plane,and the connecting rods of the working robot are determined by the intersection of the axis and the plane or the axis on the plane,and the zero position angle of each axis of the working robot is calculated by the corresponding connecting rod parameters.The effectiveness of the zero position correction method in this paper is verified by rotating a cylinder with a diameter of 80 mm.When the zero position is not corrected,the maximum error of the cylinder processed by the working robot is 2.42 mm.In contrast,after the zero position is corrected,the maximum error of the cylinder processed by the working robot is reduced to 0.16 mm.These results establish the basis for the decoupling calibration of the geometric parameters of the robot body and the zero position,and further improve the machining accuracy of the robot.
作者
庄鹏程
李扬斌
谢剑阳
郭桂彬
席文明
ZHUANG Pengcheng;LI Yangbin;XIE Jianyang;GUO Guibin;XI Wenming(School of Aerospace Engineering,Xiamen University,Xiamen 361102,China)
出处
《厦门大学学报（自然科学版）》
CAS
CSCD
北大核心
2020年第4期566-571,共6页
Journal of Xiamen University：Natural Science
关键词
机器人
零位误差校正
回转体加工
轴旋转
robot
zero position error correction
rotary body machining
axis rotation
