四自由度串联式机械臂精度测试技术研究

Research on Precision Testing Technology of Four DOF Serial Manipulator

针对四自由度串联式机械臂精度测试过程中关节、臂杆组件基准转移、零位标定、立方镜准直及末端定位精度测试等关键技术难点,给出了相应实施方案及解算方法。提出采用三坐标测量机-激光跟踪仪联合标定的方式解决关节、臂杆组件动、静态基准转移及复现。采用激光跟踪仪-经纬仪联合标定的方式建立整臂器上装配基准。讨论了机械臂关节零位标定流程及求解算法,给出了四自由度机械臂末端精度测试流程,并详细阐述了末端定位精度解算方法。为多自由度串联式机械臂精度测试提供了技术途径。

Aiming at the key technical diffculties in the precision testing of the four degree of freedom series manipulator, such as the base transfer of the joint and the arm bar component, the zero position calibration, the cubic alignment and the end positioning accuracy test, etc, the corresponding implementation scheme and calculation method are given. The combination of three coordinate measuring machine and laser tracker is put forward to solve the dynamic and static benchmark transfer problem of joints and boom components. Using laser tracker and theodolite to calibrate the whole arm assembly standard. The zero calibration process and solution method of manipulator joints are discussed, the test procedure of the end accuracy of the four DOF manipulator is given, and the terminal location accuracy calculation method is expounded in detail. It provides a technical approach for the accuracy test of multi DOF serial manipulator.