Component calibration and configuration planning in assembly automation with a parallel manipulator

doi:10.1016/j.rcim.2022.102355

	Component calibration and configuration planning in assembly automation with a parallel manipulator
	Xing, Shiyu ; Wang, Zhe; Hou, Jun ; Fan, Junfeng; Jing, Fengshui1 ; Tan, Min
发表期刊	ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
ISSN	0736-5845
	2022-10-01
卷号	77 页码:12
通讯作者	Jing, Fengshui(fengshui.jing@ia.ac.cn)
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.
关键词	Parallel manipulator Component calibration Angle-axis space Configuration planning
DOI	10.1016/j.rcim.2022.102355
关键词[WOS]	ALIGNMENT ; SENSOR
收录类别	SCI
语种	英语
资助项目	National Natural Science Founda-tion of China[U1813208] ; National Key research and development program of China[2019YFB1312703]
项目资助者	National Natural Science Founda-tion of China ; National Key research and development program of China
WOS研究方向	Computer Science ; Engineering ; Robotics
WOS类目	Computer Science, Interdisciplinary Applications ; Engineering, Manufacturing ; Robotics
WOS记录号	WOS:000798300200002
出版者	PERGAMON-ELSEVIER SCIENCE LTD
引用统计	被引频次：1[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/49477
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Jing, Fengshui
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
通讯作者单位	中国科学院自动化研究所
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.