摘要
工业机器人位姿特性是判断机器人性能的重要参数指标,直接影响到企业的生产效率。目前大部分机器人制造商的检测能力有限,制约了机器人的创新发展。激光跟踪仪是一种非接触的精密测量仪器,利用激光跟踪仪可实现机器人六维姿态的性能检测。作者根据GB/T 12624-2013标准要求设计工装夹具;根据机器人坐标系方向、连杆长度和连杆扭角建立机器人运动学参数模型;设置了激光跟踪仪和机器人I/O通信参数;对齐机器人和激光跟踪仪坐标系,实现了工业机器人位姿特性的检测。
The characteristics of industrial robot pose are important indexes to judge robot performance, and directly influence production efficiency of enterprises. At present, the detection ability of most robot manufacture is limited, which restricted the robot innovation development. Laser tracker is a non-contact precise measuring instrument, which used to test robot 6-dimensional（6D）pose performance. According to the requirements of GB/T 12624-2013 standard, the fixture was designed. The kinematics parameter model of the robot was established according to the direction of the robot coordinate system, the length of the connecting rod and the torsion angle of the connecting rod, then set up the laser tracker and the robot I/O communication parameters. Finally the robot and the laser tracker coordinate system is aligned, and realized test of the industrial robot pose characteristics.
作者
张艳菊
符远翔
车丹
ZHANG Yanju;FU Yuanxiang;CHE Dan(Guangzhou Mechanical Engineering Research Institude Co.,Ltd.,Guangzhou Guangdong 510700,China;SINOMACH Intelligence Technology Co.,Ltd.,Guangzhou Guangdong 510700,China)
出处
《机床与液压》
北大核心
2018年第21期29-33,14,共6页
Machine Tool & Hydraulics
基金
2017年度国家重点研发计划"智能机器人"重点专项(2017YFB1301400)
关键词
工业机器人
位姿特性检测
激光跟踪仪
Industrial robots；Pose characteristics detection；Laser tracker
