可重构机器人模块间装配误差识别方法研究

Study on Modular Assembly Errors Identification of Modular Reconfigurable Robots

基于对可重构机器人配对接口间位姿误差的分析划分,研制模块间装配误差在线测量识别接口,建立配对接口位姿误差与接口几何结构偏差之间的关系模型,进而建立配对接口位姿误差与配对接口内部测距传感器测量值之间的映射关系模型,提出一种基于内部测距传感器位移量的模块间装配误差在线识别、补偿方法。为验证方法的正确性,研制单关节-连杆试验平台。试验结果表明装配误差经在线识别、补偿后,连杆末端的位置误差平均值减少7倍多。

Based on the analysis and division of the position and orientation errors among the pairing connector of reconfigurable robots,a special pair of the connector is designed for online measurement and identification of the assembly errors among the assembled modules.The relation model between the errors of position and orientation in the pairing connector and deviations of the geometric structure in adjoining modules is established.Furthermore,the mapping relation model among the measuring values of the internal range sensors and the errors of the position and orientation in the pairing connector is also established.An online identification and compensation method for the assembly errors among the consecutive modules is presented,based on the displacement of the internal range sensors.In order to verify the correctness of the present method,a single joint-link test platform is developed.After the assembly errors are identified and compensated online,the test results show that the average position errors of the end-link are reduced by above 7 times.