计量学报2025，Vol.46Issue(6)：823-829,7.DOI:10.3969/j.issn.1000-1158.2025.06.06
基于一维干涉测量的六自由度并联机器人精度补偿方法
An Accuracy Compensation Method for 6-DOF Parallel Robots Based on 1-D Interferometric Measurements
摘要
Abstract
Accuracy compensation can improve the motion accuracy of six-degree-of-freedom parallel robots without increasing manufacturing costs.However,traditional accuracy compensation methods rely on multi-dimensional coordinate/pose measurement systems,which have limited measurement accuracy and make it difficult to achieve high-precision compensation.To enhance the accuracy of parallel robots,this paper proposes a high-precision compensation method based on one-dimensional interferometric measurement,which improves the compensation capability by increasing the measurement accuracy.A relative error model of the 6-DOF parallel robot is established,and a one-dimensional laser interferometer is used to measure the relative distance of the end-effector platform.By constructing an error loss function and combining it with an optimization algorithm,dimensionality reduction error compensation is realized.Experimental results show that the proposed method can reduce the root mean square position error of the 6-DOF parallel robot from 19.74 μm to 3.82 μm,improving the accuracy by approximately 80.65%.关键词
几何量计量/并联机器人/精度补偿/一维测量/优化算法Key words
geometric measurement/parallel robots/accuracy compensation/1-d measurement/optimized calibration分类
通用工业技术引用本文复制引用
高磊,任子啸,刘志华,王春蔓,孔明,蔡晨光..基于一维干涉测量的六自由度并联机器人精度补偿方法[J].计量学报,2025,46(6):823-829,7.基金项目
国家自然科学基金(52075512) （52075512）
先进溯源技术创新中心开放基金(AKYKF2410) （AKYKF2410）
中国计量科学研究院基本科研业务费(AKYZD2302) （AKYZD2302）
