斜交非球型3R手腕全参数误差建模与标定实验研究

Full Parameters Error Modeling and Calibration Experiment Research of Oblique Axis Non-spherical 3R Wrist

根据连续3R斜交非球型手腕的结构特征和工作原理,以D-H参数模型为理论依据,建立该手腕的运动学模型和全参数误差辨识模型,并用美国FARO公司生产的Xi型三维激光跟踪仪对手腕几何参数进行标定试验。经标定补偿后,连续3R斜交非球型手腕单轴方向定位精度可达到0.09mm,空间位置定位精度可达到0.104mm,完全可以满足喷涂机器人的工作精度要求。

According to the structure characteristics and operating principle of the continuous 3R oblique axis non-spherical wrist and D-H model,a kinematic model and a full parameters error identification model of this wrist were setup,and calibration experiments about this wrist were accomplished with a Xi 3D laser tracking instrument made by FARO company in American.After calibrating and compensating,the single axle positioning accuracy of the continuous 3R oblique axes non-spherical wrist is less than 0.09 mm and the spatial positioning accuracy is less than 0.104 mm.So the continuous 3R oblique axes non-spherical wrist can meet the action-accuracy requirement of spray painting robot.