Full pose measurement system for industrial robots kinematic calibration based on a sensorized spatial linkage mechanism

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Full pose measurement system for industrial robots kinematic calibration based on a sensorized spatial linkage mechanism

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Tiboni, Monica / Legnani, Giovanni / Bussola, Roberto / Tosi, Diego

This paper presents a low-cost pose measuring device capable of simultaneously measuring all six coordinates (3 translations and 3 rotations) of a rigid body with respect to a given reference frame. The proposed system consists of a mechanical chain of rigid bodies and two encoders. The mechanism is a spatial four-bar linkage system with a symmetrical Revolute-Spherical-Spherical-Revolute (RSSR) kinematic structure, where two encoders measure the rotation of the revolute joints. The mechanism is investigated theoretically and solved kinematically using a numerical estimation method. The uncertainty of the pose determination, caused by the repeatability of the sensors, is estimated, as well as the achievable measurement range. A low uncertainty is achieved by a suitable design of the proposed kinematic chain. The mechanism is easy to realize with low tolerances and the correct definition of the length of the links allows a quite large workspace. The system can be profitably used in the calibration of robots or multi-axis machine tools where the actual pose of the gripper or spindle must be measured over the workspace of the machine. An experimental prototype is described, and the first experimental results are reported.

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Dokumentinformationen

Titel :

Full pose measurement system for industrial robots kinematic calibration based on a sensorized spatial linkage mechanism

Beteiligte:

Tiboni, Monica (Autor:in) / Legnani, Giovanni (Autor:in) / Bussola, Roberto (Autor:in) / Tosi, Diego (Autor:in) / Tiboni Monica / Legnani Giovanni / Bussola Roberto / Tosi Diego

Erscheinungsdatum :

2024-01-01

DOI :

https://doi.org/10.1016/j.mechmachtheory.2024.105652

Medientyp :

Aufsatz (Zeitschrift)

Format :

Elektronische Ressource

Sprache :

Englisch

Schlagwörter :

Industrial robots , Kinematic calibration , Linkage spatial mechanism,Pose measuring