Influence of rotary axis angular positioning error motions on robotic probing

IF 3.2 3区工程技术 Q2 ENGINEERING, INDUSTRIAL

Cirp Annals-Manufacturing Technology Pub Date : 2024-01-01 DOI:10.1016/j.cirp.2024.04.074

引用次数: 0

Abstract

The accuracy of touch-trigger probing by a six-axis robotic manipulator is determined by the accuracy of the robot forward kinematic model to estimate the stylus sphere position from angular positions of rotary axes. Many conventional studies have employed the Denavit–Hartenberg (DH) model, containing position and orientation errors of the rotary axis average lines as error sources. This paper proposes the application of a new kinematic model, containing the angular positioning deviations of all the rotary axes, to the robotic probing. The probing accuracy is experimentally investigated in profile probing of a straightedge over the robot's workspace.

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旋转轴角度定位误差运动对机器人探测的影响

六轴机器人机械手的触发式探测精度取决于机器人前向运动学模型的精度，该模型可根据旋转轴的角度位置估算测针球面位置。许多传统研究都采用了 Denavit-Hartenberg (DH) 模型，该模型将旋转轴平均线的位置和方向误差作为误差源。本文提出将包含所有旋转轴角度定位偏差的新运动学模型应用于机器人探测。在对机器人工作空间上的直尺进行剖面探测时，对探测精度进行了实验研究。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Cirp Annals-Manufacturing Technology 工程技术-工程：工业

CiteScore

7.50

自引率

9.80%

发文量

137

审稿时长

13.5 months

期刊介绍： CIRP, The International Academy for Production Engineering, was founded in 1951 to promote, by scientific research, the development of all aspects of manufacturing technology covering the optimization, control and management of processes, machines and systems. This biannual ISI cited journal contains approximately 140 refereed technical and keynote papers. Subject areas covered include: Assembly, Cutting, Design, Electro-Physical and Chemical Processes, Forming, Abrasive processes, Surfaces, Machines, Production Systems and Organizations, Precision Engineering and Metrology, Life-Cycle Engineering, Microsystems Technology (MST), Nanotechnology.