Error Analyzing And Compensating Of Measurement Robot Based On The Spherical Coordinate

Though many researches have been done on the impact of improving the measuring system' s precision by using the error compensation technique/technology, the system on which mostly researches are focused is based on the orthogonal coordinate. The reason is that due to the complexity in the structure and flexibility in the motion of the non-orthogonal coordinate measuring system, it is hard to establish the error compensation modal correctly. With the development of productivity and science, however, more and more situation is required to use this system. As a result the research on the system' s error is of great meaning.The thesis aims at the error analysis and compensation of the research object-measuring robot, which is based on the spherical coordinate and combines the measuring technology with robot technology based on the series-wound mechanics. The thesis establishes the kinematics equation using the D-H model based on the structural characteristic as the starting-point. Then according to the test of precision in the measurement before the error compensation, the reasons which cause the error bring into the machine have been analyzed from the total respect. Afterward, researches have been done into the precision of the whole measuring system from the joint variable and constant parameter of the robot and the influence of the temperature. Namely, demarcation of the precision is fixed through the analysis and emulation of the joint variable in the kinematics equation, and the error of the const parameter is distilled and compensated by theself-demarcation experiment based on the error compensation modal established with the parameter. As to the influence of temperature on the machine' s precision, however, the emulation of the temperature error is established firstly, and then proved by the test. Finally, the result is analyzed obtained by the test on the temperature of the measuring robot using the regress analytical method and the mathematical modal of the actual temperature compensation is established. Results indicate that the precision of the measuring machine reaches the error scope value of ±6μ as expected. Besides, the thoughts and methods of the research done in the thesis are of great reference value for non-orthogonal coordinate measuring system.