Full Parameter Error Identification Model and Calibration of Continuous 3R Oblique Axis Non-Spherical Wrist

Based on the structure characteristics and operating principle of the continuous 3R oblique axis non-spherical wrist, a full parameter error identification model of this wrist was setup, and calibration experiment on this wrist were accomplished with a Xi type 3D laser tracking instrument made by FARO Company in American. After calibrating and compensating, the single axle positioning accuracy of the continuous 3R oblique axes non-spherical wrist could be less than 0.09 mm and the spatial positioning accuracy, less than 0.104 mm. So the continuous 3R oblique axes non-spherical wrist could meet the action-accuracy challenge of spray painting robot.