并联结构六维控制器的标定试验与分析  

CALIBRATION EXPERIMENT AND ANALYSIS FOR A 6-DOF CONTROLLER WITH PARALLEL STRUCTURE

作　　者：金振林[1] 高峰[2] 赵现朝[1] 

机构地区：[1]燕山大学机械工程学院,秦皇岛066004 [2]上海交通大学机械工程与动力学院,上海200030

出　　处：《机械工程学报》2005年第8期103-107,共5页Journal of Mechanical Engineering

基　　金：天津市自然科学基金(023800311)2003年河北省科技成果产业化资助项目。

摘　　要：研究一种新颖的力驱动方式并联结构六维控制器的标定问题。介绍并联结构六维控制器组成、工作原理及其标定系统,给出标定步骤并进行标定试验,分析驱动力与敏感元件输出信号的转换关系,定义控制器敏感度评价指标,基于获得的标定矩阵分析控制器的敏感度,这对该种六维控制器的实用及其产业化有重要意义。The problem of the calibration of a novel 6 degrees of freedom force-sensing controller with parallel structure has been addressed. The controller constitution, working technique and calibration system are described. The calibration process is presented and the experiment is accomplished. The relationships between the applied force and the output voltage of the force-sensing controller are analyzed and the sensitivity evaluation criteria of the controller are proposed. Finally, the sensitivity analysis for the controller is given based on the calibration matrix. The results obtained are significant and useful for the development and industrialization of the 6 degrees of freedom force-sensing controller.

关 键 词：并联结构 六维控制器 标定 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TM930[自动化与计算机技术—控制科学与工程]