Research On Kinematic Calibration Technology Of Industrial Robot Based On Extended R-test Measuring Device

Industrial robots have gradually become an important part of the machinery manufacturing industry due to their advantages of high degree of freedom,flexible operation,and multi-function.However,the existing robot has the problem of low spatial motion accuracy,which makes it unable to be promoted in high-precision applications.How to effectively improve the spatial positioning accuracy of robots has become an important topic for scholars in relevant fields at home and abroad.Therefore,this paper proposes a new calibration method based on self-made extended R-test measuring device detection.The main research contents are as follows:1.Taking EPSON C4 A901S industrial robot as the research object,the calibration algorithm of spatial motion error is established.The MD-H method is used to establish the kinematic model of the robot,and the space motion error parameters of the robot are analyzed and distinguished.Jacobian iteration and Newton-Raphson iteration are used to study the robot parameter error identification and compensation algorithm.Finally,the distance error and angle error of MD-H parameter error are simulated and analyzed,and the error simulation results of three orders of magnitude are obtained.The identification effect of error identification algorithm on MD-H parameter error is verified by four iterations.2.A method for measuring the spatial motion error of an industrial robot that combines the circular linkage error measurement of double ball bar and the R-test is proposed.The principle of the measurement method is introduced,and mathematical modeling and error analysis are carried out.Based on the constraint range and the measurement sensitivity index,the parameters of the bottom circle radius R and the sensor inclination angle θ of the R-test measuring device were determined.3.Based on the above measurement method,the related experimental measurement device is designed and manufactured,which is called the extended R-test measurement device.Firstly,according to the measurement requirements of the constraint range and measurement sensitivity index.3.Based on the above measurement method,the related experimental measurement device is designed and manufactured,which is called the extended R-test measurement device.Firstly,according to the measurement requirements of the positioning accuracy of industrial robots,the main hardware sensors and mechanical structures of the extended R-test measurement device are determined.Secondly,in order to confirm the accuracy design index of the self-made extended R-test measurement device,the error calibration and analysis of the standard ball rotation mechanism and R-test measurement mechanism of the device are carried out respectively.4.Based on the self-made extended R-test measuring device,the space motion error calibration experiment and data analysis of EPSON C4 A901S industrial robot are carried out.First of all,according to the data acquisition mode of the extended R-test measurement device,the data processing program and its GUI display interface are compiled.Secondly,the measurement flow based on the extended R-test measurement device is designed and the data acquisition and error analysis are preliminarily carried out.Finally,the linear calibration method of laser interferometer is proposed to verify the reliability of the proposed calibration method.