Measure Ruler Based Home Position Calibration Of A Diamond Robot

Taking a 2-DOF parallel robot(Diamond)as the research object,a measure ruler based home position calibration method aiming at the home position error of high speed parallel robot was proposed.The primary coverage includes study of home position calibration theory,computer simulation of home position and home position calibration experiment.The full text yields the following result:Study of home position calibration theory: Firstly,a measure ruler for measuring the home position error of Diamond robot was designed.Secondly,by means of system analysis and reasonable mechanism simplification of Diamond robot wih a measure ruler,the forward kinematic model,the inverse kinematical model,the error model and the home position error identification model based on measure ruler were established.Finally,the error compensation strategy was selected for the calibration of the home position.Computer simulation of home position: Firstly,the geometrical structure parameters of Diamond robot were set up according to a Diamond robot of Chenxing(Tianjin)Automation Equipment Co.,LTD,and 6 groups of simulation parameters were set up according to the initial rotation error of different active arms and the structural error of Diamond robot.Secondly,the measuring points plan was made taking both the integrated literacy precision and efficiency of calibration into account.Thirdly,the home position calibration method was proved to be effective by calculating the home position calibration effect of Diamond robot both with and without geometrical structure parameters in MATLAB.Home position calibration experiment: Firstly,the basic precision measurement of Diamond robot were detected.Secondly,the laser tracker and its measuring principle were introduced.Thirdly,the home position calibration experiment of Diamond robot was completed according to the home position calibration method described in this paper,and the effect of the home position experiment was verified by laser tracker.The home position calibration method in this paper is of certain significance for the calibration of other parallel mechanisms.