文献类型：期刊文献

英文题名：Large valve sealing surface in-position measurement robot and its parameter identification

作者：Zhao, Xujie[1]; Chen, Shijian[2]; Ren, Lijie[2]; Chen, Shangshu[2]; Yu, Xinhai[1]; Li, Jin[1]

机构：[1] East China University of Science and Technology, Department of Mechanical Engineering, Shanghai, 200237, China; [2] CNNC SUFA Technology Industry Co., Ltd., Department of Mechanical Engineering, Suzhou, 215011, China

年份：2023

起止页码：435

外文期刊名：2023 IEEE 3rd International Conference on Electronic Technology, Communication and Information, ICETCI 2023

收录：EI(收录号：20233214488713)

语种：英文

外文关键词：Coordinate measuring machines - Errors - Iterative methods - Least squares approximations - Position measurement - Surface measurement

摘要：Aiming at the current problems of low accuracy and low automation of large gate valve sealing surface measurement, an on-position measurement system specifically for large gate valve sealing surface measurement is studied and the calibration method to improve the accuracy of the robot is analyzed. The error caused by the flexible deformation of the connecting rod is considered. First, the DH model of the robot is established, and then the model is updated according to different error sources, and the iterative least squares method is used to calibrate the geometric error parameters and the deformation error parameters of the robot segmentally. The flatness variation of the standard marble plane measured by the calibrated robot is reduced from 34.9μm to 17μm; the error of the gate valve sealing surface model angle measured by the robot is 0.63% compared with the CMM, and the opening dimension can be obtained compared to the CMM. ? 2023 IEEE.