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工业机器人的MultiCal现场校准装置的改进设计

Ziwei Wan^1,2, Chunlin Zhou¹, Zhaohui Lin³

¹College of Control Science and Engineering, Zhejiang University, Hangzhou 310063, China.

Sensors (Basel, Switzerland)

|July 8, 2023

概括

这项研究增强了使用MultiCal. 进行工业机器人校准的方法. 对测杆设计的改进和新的变形补偿算法显著提高了现场机器人校准的准确性和可靠性.

科学领域:

机器人技术机器人技术机器人技术
计量学计量学计量学
机械工程机械工程

背景情况:

工业机器人校准对于精密制造至关重要.
现有的MultiCal设备因测量棒引力变形而面临准确性问题,特别是较大的机器人.
这种变形限制了现场校准的可靠性.

研究的目的:

为了提高MultiCal工业机器人校准系统的准确性和可靠性.
为了解决因测量杆引力变形造成的测量误差.
提高现场机器人校准工具的成本效益和稳定性.

主要方法:

开发了一种新的,轻量级的,高刚度的测量杆设计.
实施了一种新的变形补偿算法,以抵消杆曲.
进行了实验,以验证 MultiCal. 提议的改进方案的有效性.

主要成果:

新的测量棒设计使校准准确度提高了20%至39%.
变形补偿算法进一步提高了精度,精度增加了6%至16%.
优化后的系统实现了与激光扫描仪系统相提并论的精度,误差低至0.274毫米 (平均值).

结论:

改进的MultiCal设计和补偿算法显著提高了工业机器人校准准确度.
这种具有成本效益和强大的解决方案为现场机器人校准提供了更可靠的工具.
取得的精度满足了现代工业自动化的要求.

关键词:

精度测量测量的准确性校准装置的校准装置是指一个校准装置.工业机器人工业机器人工业机器人动力学校准的运动学校准.在现场进行校准.

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