并联机器人非接触式大量程位姿测量系统
DOI:
CSTR:
作者:
作者单位:

1.中国科学院长春光学精密机械与物理研究所 长春 130033;2.中国科学院大学 北京 100049

作者简介:

通讯作者:

中图分类号:

TN06;TP212.9

基金项目:

国家自然科学基金(12302116,62235018)项目资助


Non-contact large-stroke position and attitude measurement system for parallel robots
Author:
Affiliation:

1.Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences,Changchun 130033, China; 2.University of Chinese Academy of Sciences,Beijing 100049, China

Fund Project:

  • 摘要
  • |
  • 图/表
  • |
  • 访问统计
  • |
  • 参考文献
  • |
  • 相似文献
  • |
  • 引证文献
  • |
  • 资源附件
  • |
  • 文章评论
    摘要:

    为满足并联机器人动平台大行程六自由度位姿的非接触式同步测量需求,首先提出了一种由激光器和视觉组件构成的位姿测量系统。该系统通过图像处理技术输出探测面上光斑的二维坐标,利用激光器和视觉组件的配合,实现了并联机器人动平台位姿的精确测量。接着研究了测量系统的解算方法,基于解析几何方法推导了被测目标的位姿。最后,利用高精度并联机器人进行实验测试,结果表明该系统的位置测量均方根误差低于0.1 mm,姿态测量均方根误差低于0.07°,位置测量和姿态测量的平均相对误差分别为0.76%和2.56%。该研究为非接触式大量程位姿测量提供了一种新颖有效的解决方案,在机器人运动控制、精密制造和科学实验等领域具有广泛的应用前景。

    Abstract:

    To meet the demand for non-contact synchronous measurement of the large-range six-degree-of-freedom pose of a parallel robot′s moving platform, a pose measurement system composed of a laser and visual components is proposed. The system utilizes image processing technology to output the two-dimensional coordinates of light spots on the detection surface, achieving precise pose measurement of parallel robot platforms through the cooperation of lasers and vision components. Subsequently, the solution method of the measurement system is studied, and the pose of the target is derived based on analytical geometry methods. Finally, experimental tests are conducted using a high-precision parallel robot. The results indicate that the system achieves a root mean square error of less than 0.1 mm in position measurement and less than 0.07° in attitude measurement. The average relative errors of position and attitude measurements are 0.76% and 2.56%, respectively. This research provides a novel and effective solution for large-stroke pose measurement technology, with broad application prospects in robotic motion control, precision manufacturing, and scientific experiments.

    参考文献
    相似文献
    引证文献
引用本文

王艺,秦超,徐振邦.并联机器人非接触式大量程位姿测量系统[J].电子测量技术,2025,48(9):1-8

复制
相关视频

分享
文章指标
  • 点击次数:
  • 下载次数:
  • HTML阅读次数:
  • 引用次数:
历史
  • 收稿日期:
  • 最后修改日期:
  • 录用日期:
  • 在线发布日期: 2025-05-23
  • 出版日期:
文章二维码