The Design of a Geometric Error Compensation System for a Parallel Robot
碩士 === 國立高雄應用科技大學 === 機械與精密工程研究所 === 103 === Robot is mainly used in the transfer objects and positioning objects in the workplace and work endpoint be calculated by parameterization of the kinematics. Mechanical arm components size and angular errors generated during manufacture and assembly, so th...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2015
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| Online Access: | http://ndltd.ncl.edu.tw/handle/75607924421617842058 |
| Summary: | 碩士 === 國立高雄應用科技大學 === 機械與精密工程研究所 === 103 === Robot is mainly used in the transfer objects and positioning objects in the workplace and work endpoint be calculated by parameterization of the kinematics. Mechanical arm components size and angular errors generated during manufacture and assembly, so that mechanical arm work endpoint that calculated by the mechanism kinematics model and actual work endpoint will be inconsistent. Therefore, Mechanical arm of the institutions parameters need to be corrected. This Thesis will develop a geometric error compensation system to implement and apply to parallel Mechanical arm to achieve the purpose of precise positioning.
The experimental section, we use FPGA development platform combines PC-Base servo control system and known in amount of each axis motor rotation angle and endpoint coordinate of the measurement work. Obtain the mechanical arm of the size and angle of each through mathematical formula. Correction kinematic to get mechanism parameters .At the same time to be compared and verified geometric error compensation this thesis developed in parallel with the original mechanism of the robot parameters capacity.
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