Position accuracy measuring device and method for manipulator arm

Abstract

The invention belongs to the field of dynamic trajectory accuracy calibration of manipulator arms, and provides a position accuracy measuring device and method for a manipulator arm. The dynamic trajectory error of the manipulator arm is measured by means of two orthogonal turntables and a radial telescopic mechanism passing through two rotating centers. A precise standard steel ball fixed at theend point of the radial telescopic mechanism is attracted to a magnetic ball seat fixed at the end point of the manipulator arm, the spatial position coordinates (X, Y, Z) of the end point of the manipulator arm are obtained by coordinate transformation of the steel ball coordinates (R, theta, phi) on a three-dimensional spherical coordinate mechanism, and the position error of the end point of the mechanical arm can be obtained by subtracting the coordinate position and the motion command position of the manipulator arm. A three-dimensional spherical coordinate system is formed by integratingan azimuth angle, a pitch angle and a radial length, and the precision of the spherical coordinate mechanism is higher than that of the manipulator arm. The position accuracy measuring device has portability, low cost, good practicability and easy product development, and the real-time measurement of the error of the manipulator arm error can be completed.

Description

technical field [0001] The invention belongs to the field of dynamic track precision calibration of a mechanical arm, and relates to a measuring device and method for a mechanical arm. Background technique [0002] Among machines with a motion coordinate system, the robotic arm is the only automated mechanism capable of rapid three-dimensional motion. However, due to too many joints of the robotic arm, multiple errors are accumulated and transmitted, resulting in generally low precision of the robotic arm. At present, the correction of the spatial position accuracy of the mechanical arm is based on the five-point position method on the slope specified in the international standard ISO9283 "Operational Industrial Robot Performance Standards and Detection Methods", but it cannot realize the real-time detection and accuracy of the mechanical arm accuracy. compensate. The existing robotic arm accuracy measurement devices are mainly laser trackers, but the laser trackers are ex...

AI Technical Summary

Problems solved by technology

However, due to too many joints of the robotic arm, multiple errors are accumulated and transmitted, resulting in generally low precision of the robotic arm.

At present, the correction of the spatial position accuracy of the mechanical arm is based on the five-point position method on the slope specified in the international standard ISO9283 "Operational Industrial Robot Performance Standards and Detection Methods", but it cannot realize the real-time detection and accuracy of the mechanical arm accuracy. compensate

The existing robotic arm accuracy measurement devices are mainly laser trackers, and laser trackers are expensive

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