高速并联机械手运动学标定方法  

Kinematical calibration method for high-speed parallel manipulator

作　　者：李占贤[1] 黄田[1] 赵学满[1] 梅江平[1] 

机构地区：[1]天津大学机械工程学院

出　　处：《机械设计》2005年第1期18-20,共3页Journal of Machine Design

基　　金：8 63高技术研究发展计划资助项目 (2 0 0 1AA42 1 2 2 0 )

摘　　要：以可实现 2平动自由度运动的并联机械手———Diamond机械手为研究对象 ,提出一种具有分层递阶格式的误差辨识和补偿方法 ,该方法以动平台参考点初始位置为标定坐标系原点 ,首先辨识并补偿主动臂回零转角误差 ,而后再辨识并补偿其它几何参数误差。Taking the parallel manipulator-Diamond that could realize a 2-DOF-translation movement as the object of study, a kind of error recognition and compensation method that possesses stratification and successive ordered format was put forward. This method takes the initial position of the moving platform's reference point as the origin of calibrated coordinate system, the errors of rotation angle of zero return for the driving arm was firstly recognized and compensated and then the other geometric parameter errors were identified and compensated. The result of test verified the effectiveness of this method.

关 键 词：并联机械手 误差模型 运动学标定 

分 类 号：TH113[机械工程—机械设计及理论]