为了提高2RPU/UPR+RP过约束混联机器人在实际运用中的精度, 达到生产实践的需求, 对该机器人进行误差补偿研究。首先介绍了过约束混联机器人的运动原理, 随后分析影响混联机器人末端精度的各项几何误差的来源, 并对提高混联机器人精度的零点标定与全标定方法进行介绍。将混联机器人分为并联机构和单摆头两部分, 分别对两部分进行零点标定和全标定理论研究, 然后基于激光跟踪仪搭建了标定实验系统, 得到了标定后的误差参数的真实值, 补偿到运动学算法中。实验结果表明, 本文提出的全标定和零点标定方法可以有效提高混联机器人的定位精度。

In order to improve the accuracy of the 2RPU/UPR+RP over-constrained hybrid robot in practical application and meet the requirements of production practice, the error compensation research of the robot was carried out. Firstly, the motion principle of the over-constrained hybrid robot was introduced. Then, the geometric error sources that affect the end precision of the hybrid robot were analyzed, and the zero calibration and full calibration method for improving the accuracy of the hybrid robot were introduced. The hybrid robot was divided into the parallel mechanism and the swing head with single-degree-of-freedom. Theoretical research on zero calibration and full calibration were conducted on these two parts respectively. Then the calibration experiment system was built up based on the laser tracker, and true values of error parameters were obtained by using algorithm after calibration, which were compensated to the kinematics algorithm. The result, indicates that the proposed full calibration and zero calibration method can effectively improve the positioning accuracy of the hybrid robot.