通过温度预测补偿六足机器人执行器热漂移，精度提升超80%。
Model-based thermal drift compensation for high-precision hexapod robot actuators
- 建立执行器表面温度与膨胀状态的映射模型，实现热漂移预判。
- 实验验证热致膨胀减少超过80%，显著提升定位精度。
- 适用于高精度机器人及类似精密机电部件的热误差补偿。
热膨胀是高精度六足机器人（Gough-Stewart平台）定位误差的重要来源。部件温度变化会引起热胀冷缩，改变其运动学模型，降低机器人的精度和重复性，这可能源于电机、编码器等内部热源或环境温变。本文提出一种方法，用于预测并校正六足机器人精密电-机械执行器的热漂移。该方法基于构建一个模型，将执行器任意时刻的膨胀状态与表面若干关键点的温度关联起来。模型先通过理论推导建立，再在特定试验台上通过高精度干涉测量系统进行的严格测量实验调整系数。实验验证表明，热致膨胀可减少超过80%。该方法为整机或类似机器人部件的热漂移补偿提供了可行路径。
原文摘要 · Abstract (English)
Thermal expansion is a significant source of positioning error in high-precision hexapod robots (Gough-Stewart platforms). Any variation in the temperature of the hexapod's parts induces expansion, which alters their kinematic model and reduces the robot's accuracy and repeatability. These variations may arise from internal heat sources (such as motors, encoders, and electronics) or from environmental changes. In this study, a method is proposed to anticipate and therefore correct the thermal drift of one of the hexapod precision electro-mechanical actuators. This method is based on determining a model that links the expansion state of the actuator at any given moment to the temperature of some well-chosen points on its surface. This model was initially developed theoretically. Its coefficients were then adjusted experimentally on a specific test-bench, based on a rigorous measurement campaign of actuator expansion using a high-precision interferometric measurement system. Experimental validation demonstrates a reduction of thermally induced expansion by more than 80%. This paves the way for thermal drift correction across the entire robot or similar robotics parts.
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