中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
Component calibration and configuration planning in assembly automation with a parallel manipulator

文献类型:期刊论文

作者Xing, Shiyu; Wang, Zhe; Hou, Jun; Fan, Junfeng; Jing, Fengshui2; Tan, Min
刊名ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
出版日期2022-10-01
卷号77页码:12
ISSN号0736-5845
关键词Parallel manipulator Component calibration Angle-axis space Configuration planning
DOI10.1016/j.rcim.2022.102355
通讯作者Jing, Fengshui(fengshui.jing@ia.ac.cn)
英文摘要Parallel manipulator (PM) is widely used as posture alignment mechanism in heavy component machining and assembly process. To achieve precise kinematics backward transformation, the relative spatial relationship between the component and PM's spherical joints need be calibrated, which suffers from the pain-point that the spherical joint center is inside the mechanical socket and its position can hardly be directly recovered. We refer this problem as component calibration. In this research, we present an alternate solution by formulating kinematic chain in form of AX = XB based on designedly established PM reference configuration and base coordinate system, which does not rely on the measurement of spherical joint center position. To improve the calibration accuracy, accuracy-influencing factors, PM's dexterity distribution over workspace and properties of angle-axis space are jointly analyzed then 4 centrosymmetric angle-axis vector pairs on the boundary of maximum feasible angle-axis space at zero manipulator translation are set as configuration pairs to establish the kinematic chain. Configuration planning in angle-axis space facilitates the visualization and control of the critical factors in calibration process and tends to set these factors to optimum simultaneously. Experiments are carried out finally and the results show that the calibration accuracy could be notably improved with such method compared with no configuration planning, especially for translation accuracy.
WOS关键词ALIGNMENT ; SENSOR
资助项目National Natural Science Founda-tion of China[U1813208] ; National Key research and development program of China[2019YFB1312703]
WOS研究方向Computer Science ; Engineering ; Robotics
语种英语
出版者PERGAMON-ELSEVIER SCIENCE LTD
WOS记录号WOS:000798300200002
资助机构National Natural Science Founda-tion of China ; National Key research and development program of China
源URL[http://ir.ia.ac.cn/handle/173211/49476]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者Jing, Fengshui
作者单位1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714
Xing, Shiyu,Wang, Zhe,Hou, Jun,et al. Component calibration and configuration planning in assembly automation with a parallel manipulator[J]. ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING,2022,77:12.
APA Xing, Shiyu,Wang, Zhe,Hou, Jun,Fan, Junfeng,Jing, Fengshui,&Tan, Min.(2022).Component calibration and configuration planning in assembly automation with a parallel manipulator.ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING,77,12.
MLA Xing, Shiyu,et al."Component calibration and configuration planning in assembly automation with a parallel manipulator".ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING 77(2022):12.

入库方式: OAI收割

来源:自动化研究所

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