可重构机器人模块间装配误差识别方法研究

高文斌; 江自真; 余晓流

doi:10.13433/j.cnki.1003-8728.20200022

可重构机器人模块间装配误差识别方法研究

doi: 10.13433/j.cnki.1003-8728.20200022

安徽工业大学机械工程学院, 安徽马鞍山 243032

基金项目:

国家自然科学基金项目 51605004

详细信息

作者简介:
高文斌(1983-), 副教授, 硕士生导师, 博士, 研究方向为机器人学、机电一体化技术, wenbingao@foxmail.com

中图分类号: TP24
计量
- 文章访问数: 118
- HTML全文浏览量: 30
- PDF下载量: 20
- 被引次数: 0
出版历程
- 收稿日期: 2019-09-19
- 刊出日期: 2021-01-01

Study on Modular Assembly Errors Identification of Modular Reconfigurable Robots

School of Mechanical Engineering, Anhui University of Technology, Ma′anshan 243032, Anhui, China

摘要

摘要: 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。
- 可重构机器人 /
- 精度补偿 /
- 模块接口 /
- 在线测量
Abstract: 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.
- modular reconfigurable robots /
- precision compensation /
- modular connectors /
- online measurement

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图 1 模块坐标系定义

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图 2 相邻模块间坐标系理论位姿关系

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图 3 相邻模块间坐标系实际位姿关系

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图 4 关节、连杆模块装配体

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图 5 公、母口与装配关系

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图 6 设定母口坐标系

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图 7 设定公口坐标系

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图 8 坐标系的位姿关系

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图 9 试验设备与现场

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图 10 母口坐标系

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图 11 公口坐标系

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图 12 试验流程

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图 13 不同位置测试点的位置误差模

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表 1 模块几何参数测量值

几何参数	r	L₀	L₁	L₂
测量值/mm	25.027 5	44.002 4	5.996 2	43.500 0

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表 2 理论坐标值 mm

测试点	坐标
1	(220.196 8, 14.863 0)
2	(-122.970 1, 183.264 5)
3	(-97.226 7, 198.127 5)

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表 3 指示表示值 mm

序号	1#传感器	2#传感器	3#传感器
1	8.012	8.365	7.603
2	7.345	7.976	8.584
3	8.877	8.039	7.023
4	7.704	7.356	9.297
5	8.859	7.855	7.272
6	8.713	7.524	7.877

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表 4 补偿后坐标值

序号	测试点补偿后坐标/mm
序号	1	2	3
1	(219.913 4, 13.531 7)	(-121.675 5, 183.684 7)	(-98.237 9, -197.216 4)
2	(220.915 3, 13.793 2)	(-122.402 9, 184.421 7)	(-98.512 4, -198.214 9)
3	(219.217 3, 14.920 9)	(-122.530 5, 182.387 3)	(-96.686 8, -197.308 2)
4	(221.208 2, 15.447 6)	(-123.982 1, 183.848 1)	(-97.226 1, -199.295 7)
5	(219.399 3, 16.057 6)	(-123.605 9, 181.976 6)	(-95.793 4, -198.034 2)
6	(219.758 0, 17.318 4)	(-124.877 2, 181.656 8)	(-94.880 8, -198.975 2)

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表 5 实测坐标值

序号	测试点实测坐标/mm
序号	1	2	3
1	(219.863 0, 13.422 5)	(-121.942 3, 183.516 2)	(-98.312 5, -197.534 6)
2	(220.920 0, 13.626 4)	(-122.587 0, 184.356 8)	(-98.692 2, -198.504 5)
3	(219.249 5, 14.810 6)	(-122.778 2, 182.780 0)	(-96.870 8, -197.660 5)
4	(221.150 9, 15.468 8)	(-124.358 8, 183.640 7)	(-97.246 2, -199.678 1)
5	(219.478 2, 15.656 2)	(-123.552 5, 182.104 0)	(-96.183 9, -198.202 7)
6	(219.706 2, 17.637 6)	(-125.399 5, 181.425 2)	(-94.689 2, -199.346 0)

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