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A terminal error correction system and method for a three-degree-of-freedom parallel robot

A robot system and error correction technology, applied in the field of robots, can solve problems such as limiting the application range of error correction methods, and achieve the effect of easy-to-use terminal error correction system and method, ensuring positioning accuracy, and avoiding disturbances

Active Publication Date: 2022-06-28
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
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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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  • A terminal error correction system and method for a three-degree-of-freedom parallel robot
  • A terminal error correction system and method for a three-degree-of-freedom parallel robot
  • A terminal error correction system and method for a three-degree-of-freedom parallel robot

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Embodiment Construction

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

[0047] like figure 1 As shown, the three-degree-of-freedom parallel robot includes an electronic cabin 3, a moving platform 5, a static platform 6, and three symmetrically arranged branch chains (also called "parallel mechanisms"), each of which contains a Arm servo 4, active arm 7 and driven arm 8.

[0048] When the parallel robot moves, the three arm servos drive the three active arms connected to it to rotate, which in turn drives the three slave arms to move, so that the moving platform 5 produces translation in the three-dimensional space. The motion space of the moving platform is the cylindrical space.

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

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Abstract

The invention belongs to the field of robots, and discloses a terminal error correction system and method for a three-degree-of-freedom parallel robot. The terminal error correction system includes: a parallel robot body and a visual positioning system; wherein, the parallel robot body includes: an electronic cabin, a static Platform, 3 sets of symmetrically arranged parallel mechanisms and moving platform. The electronic cabin is equipped with a parallel robot motion control system. The parallel mechanism includes: arm steering gear, active arm and driven arm; the visual positioning system includes: at least 4 sets of visual positioning Camera, 1 visual positioning device and 3 passive reflective targets. Among them, the visual positioning camera and visual positioning device are connected through a wired or wireless network. One arm servo output shaft. According to the terminal error correction system and method of the three-degree-of-freedom parallel robot of the present invention, the cost of implementation is effectively controlled while ensuring the positioning accuracy.

Description

technical field [0001] The invention belongs to the field of robots, and relates to an end error correction system and method of a robot, in particular to an end error correction system and method of a three-degree-of-freedom parallel robot. 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 serial robots, and it has been only a few decades since their birth. However, due to their simple structure, high precision, and strong carrying capacity, they have 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 end positioning accuracy of the parallel robot by improving the processing and assembly accuracy, b...

Claims

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Application Information

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Patent Type & Authority Patents(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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