| Summary: | 碩士 === 國立中興大學 === 機械工程學系所 === 106 === This research paper aims to design a set of measuring end position of industrial robot arm, calibrating and compensating the arm parameter error of the arm. The measuring equipment uses WDS-1500-P60 cable-type displacement sensor, X-RSW60A rotating carrier platform and USB-6361 I/O capture card, which has the advantages of convenient installation, small size and a low price. This pull-line displacement sensor has high-precision characteristics; therefore, the focus of this paper is to evaluate the feasibility of a set of contact, easily set up and low-cost applications in industrial robotic arm absolute accuracy correction equipment.
The goal of this study is to find out the mechanical error parameters of the robot arm and compensate. Therefore, this study uses the Denavit–Hartenberg method to establish the forward motion model and the geometric approximation to establish the inverse motion model, with the linear displacement sensor and the rotating load. The measuring device based on the moving platform obtains the measurement data of the movement of the end point of the arm, and obtains the error parameter vector through the parameter identification method of the distance error model, and then compensates.
In order to determine the feasibility of the pull-line displacement sensor as a measuring device, this study conducted a linear measurement test. From the results, the longer the measurement distance of the device is, the lower the accuracy and the shorter the distance. It will also be slightly less accurate than when it is stretched.
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