STRUCTURAL PARAMETERS CALIBRATION BY POSTURE MEASUREMENT ON PARALLEL 6-DOF PLATFORM  

作　　者：Wu Jiangning Li ShilunState Key Laboratory of Fluid Power Transmission and Control, Zhejiang University,Hangzhou 310027, China 

出　　处：《Chinese Journal of Mechanical Engineering》2002年第4期334-338,343,共6页中国机械工程学报（英文版）

基　　金：This project is supported by National Defense Science and Technology Multi-vocation Foundation in Advance Research of China(No. 97J465JW0408).

摘　　要：Some approaches to measure parallel 6-degree of freedom platform's posturestatically and to calibrate the platform's actual structural parameters by measuring a series of theplatform's varying postures are studied. In the case where high posture accuracy is requiredrelatively, to obtain the platform's actual structural parameters is very important. Threedimensions measurement with 2 theodolites are used to obtain the platform's postures statically andNewton iterative method is adopted to calibrate structural parameters. Some measures taken in themeasurement and the calibration are discussed in detail. And the experiment results of theplatform's posture control before and after the calibration are given. The results show that theplatform's posture control accuracy after the calibration is improved notably.Some approaches to measure parallel 6-degree of freedom platform's posturestatically and to calibrate the platform's actual structural parameters by measuring a series of theplatform's varying postures are studied. In the case where high posture accuracy is requiredrelatively, to obtain the platform's actual structural parameters is very important. Threedimensions measurement with 2 theodolites are used to obtain the platform's postures statically andNewton iterative method is adopted to calibrate structural parameters. Some measures taken in themeasurement and the calibration are discussed in detail. And the experiment results of theplatform's posture control before and after the calibration are given. The results show that theplatform's posture control accuracy after the calibration is improved notably.

关 键 词：parallel 6-DOF platform theodolite posture measurement nonlinearequation group structural parameters calibration 

分 类 号：TH761[机械工程—仪器科学与技术]