Wang Yuezong, Liu Jinghui, Chen Hao, Chen Jiqiang, Lu Yangyang
Faculty of Materials and Manufacturing, Beijing University of Technology, Beijing 100124, China.
School of Emergency Management, Institute of Disaster Prevention, Sanhe 065201, China.
Micromachines (Basel). 2021 Mar 23;12(3):344. doi: 10.3390/mi12030344.
In robotic micromanipulation systems, the orthogonality of the three-axis motion trajectories of the motion control systems influences the accuracy of micromanipulation. A method of measuring and evaluating the orthogonality of three-axis motion trajectories is proposed in this paper. Firstly, a system for three-axis motion trajectory measurement is developed and an orthogonal reference coordinate system is designed. The influence of the assembly error of laser displacement sensors on the reference coordinate system is analyzed using simulation. An approach to estimating the orthogonality of three-axis motion trajectories and to compensating for its error is presented using spatial line fitting and vector operation. The simulation results show that when the assembly angle of the laser displacement sensors is limited within a range of 10°, the relative angle deviation of the coordinate axes of the reference coordinate frame is approximately 0.09%. The experiment results show that precision of spatial line fitting is approximately 0.02 mm and relative error of the orthogonality measurement is approximately 0.3%.
在机器人微操作系 统中，运动控制系统的三轴运动轨迹的正交性会影响微操作的精度。本文提出了一种测量和评估三轴运动轨迹正交性的方法。首先，开发了一种用于三轴运动轨迹测量的系统，并设计了一个正交参考坐标系。利用仿真分析了激光位移传感器的装配误差对参考坐标系的影响。提出了一种利用空间直线拟合和矢量运算来估计三轴运动轨迹正交性并补偿其误差的方法。仿真结果表明，当激光位移传感器的装配角度限制在10°范围内时，参考坐标系坐标轴的相对角度偏差约为0.09%。实验结果表明，空间直线拟合精度约为0.02mm，正交性测量的相对误差约为0.3%。
