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Tail end error correction system for three-degree-of-freedom parallel robot and tail end error correction method

A technology of error correction and correction method, which is applied in the field of robotics, can solve the problems of limiting the application range of error correction methods, etc., and achieve the effect of easy-to-use terminal error correction system and method, improve terminal positioning accuracy, and avoid disturbance

Active Publication Date: 2021-10-15
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0004] Another method is to perform error correction on the assembled robot, but existing solutions often use expensive instruments such as 3D laser trackers for error measurement, which limits the application range of error correction methods

Method used

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  • Tail end error correction system for three-degree-of-freedom parallel robot and tail end error correction method
  • Tail end error correction system for three-degree-of-freedom parallel robot and tail end error correction method
  • Tail end error correction system for three-degree-of-freedom parallel robot and tail end error correction method

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Embodiment Construction

[0046]In order to further explain the purpose, technical solutions and advantages of the present invention, the present invention will be further described in detail below in conjunction with specific embodiments and accompanying drawings.

[0047] Such as figure 1 As shown, the three-degree-of-freedom parallel robot consists of an electronic cabin 3, a dynamic platform 5, a static platform 6, and three symmetrically arranged branch chains (also called "parallel mechanisms"), each of which contains a Arm steering gear 4, master arm 7 and slave arm 8.

[0048] When the parallel robot moves, the three active arms connected to it are driven by the three arm servos to rotate, and then the three slave arms are driven to move, so that the moving platform 5 produces translation in three-dimensional space. The motion space of the moving platform is a cylinder space.

[0049] The visual positioning camera 1 adopts a CCD camera with an infrared light source, and the passive reflective...

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Abstract

The invention belongs to the field of robots, and discloses a tail end error correction system for a three-degree-of-freedom parallel robot and a tail end error correction method. The tail end error correction system comprises a parallel robot body and a visual positioning system. The parallel robot body comprises an electronic cabin, a static platform, three groups of symmetrically arranged parallel mechanisms and a movable platform, a parallel robot motion control system is mounted in the electronic cabin, and each parallel mechanism comprises an arm steering engine, a driving arm and a driven arm; and the visual positioning system comprises at least four visual positioning cameras, a visual positioning device and three passive reflective targets, the visual positioning cameras and the visual positioning device are networked in a wired or wireless manner, and the three passive reflective targets are fixed to the the center point of the static platform, the center point of the movable platform and output shafts of the arm steering engines respectively. According to the tail end error correction system of the three-degree-of-freedom parallel robot and the tail end error correction method, the implementation cost is effectively controlled while the positioning precision is guaranteed.

Description

technical field [0001] The invention belongs to the field of robots, and relates to a robot terminal error correction system and method, in particular to a three-degree-of-freedom parallel robot terminal error correction system and method. Background technique [0002] With the continuous improvement of the level of intelligent manufacturing, the demand for robots in automated production lines is also increasing. The development of parallel robots is much later than that of series robots, and it was born only a few decades ago. However, due to its simple structure, high precision, and strong carrying capacity, it has more and more extensive application scenarios. [0003] In order to realize the precise control of the parallel robot, it is necessary to perform error correction on the end of the assembled parallel robot. An existing method is to ensure the positioning accuracy of the end of the parallel robot by improving the processing and assembly accuracy, but this method...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/1692B25J9/003B25J9/163B25J9/1697B25J9/161
Inventor 严卫生李勇崔荣鑫陈乐鹏张守旭
Owner NORTHWESTERN POLYTECHNICAL UNIV
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