基于拉线传感器工业机器人标定系统设计-机械工程专业论文.docxVIP

哈尔滨工业大学工学硕士学位论文 哈尔滨工业大学工学硕士学位论文 万方数据 万方数据 Abstract Nowadays industrial robots have been widely used in many complex industrial applications, the demand for the need of high accuracy robot is more and more great. And we can improve the accuracy through calibration with no structure changed. Based on draw-wire sensors, we have developed a new kind of industrial robot calibration system to calibrate the zero values of joints, the geometric parameter errors and the mechanical transfer errors. To calibrate the OTC 6-axes industrial robot, we have built four kinds of kinematic models, the D-H model, the modified D-H model, the simplified D-H model and the D-H model with joint variable ratio k, based which we built the distance error models to identify and compensate the model parameter errors . And we developed the calibration software in matlab to identify the parameters. At last, we compensated the parameters to the corresponding kinematic model. We find that the joint variable ratio k has an great effect on improving the accuracy of the end-effector. Comparaed with the current robot measurement products, we proposed the performance index of the new calibration system. To measure the whole workspace of the robot and the economy, we applied the draw-wire sensors in this system. The draw-wire sensor is designed to measure liner displacement. So we designed a kind of steering mechanism and the adaptor between steel wire and the end-effector to measure the position of the end-effector more freely and flexibly. And by the use of X4 encode model of the PCI-1784U data acquisition card,which is producted by ADVANTECH, we further improved the system resolution. We bulit the mathematical model ,and according to the unique structure of the system ,we designed a simple method to solve the nonliner equations. It was proved to improve the efficiency of solving the problem by four iterations. Based on the mathmatical model, we set up the system error model and analysed the effect of